The structure ST_ConfigDataGeneric contains general parameters for robot configuration in EcoStruxure Machine Expert Twin. Parameters specific to each robot type are provided in separate ST_ConfigDataRobot<type> structures.
Name |
Data type |
Description |
---|---|---|
sCategory |
STRING[80] |
The type of device, for example, a robot. As a prerequisite, the corresponding object must be available in the EcoStruxure Machine Expert Twin catalog. It is displayed in EcoStruxure Machine Expert Twin under . Example:
In communications between the controller and EcoStruxure Machine Expert Twin, the string
Two options are available for setting the value in the structure:
|
sName |
STRING[80] |
A string which uniquely identifies the robot by name. It is displayed in EcoStruxure Machine Expert Twin in the scene and in the Solution Explorer. In the , it is available as . Example:
|
udiColor |
UDINT |
The enumeration ET_EmulationColors provides the colors supported by EcoStruxure Machine Expert Twin. |
stPosition |
SE_MATH.ST_Vector3D |
The 3-D vector that provides the position of the robot in space (in a cartesian coordinate system).
NOTE: In EcoStruxure Machine Expert, the position values are based on a right-hand coordinate system. EcoStruxure Machine Expert Twin internally converts the data to a left-hand coordinate system.
It is displayed in EcoStruxure Machine Expert Twin under , they are available as . |
stOrientation |
SE_MATH.ST_Vector3D |
The 3-D vector that provides the rotation of each axis of the robot in space (in a cartesian coordinate system).
NOTE: In EcoStruxure Machine Expert, the orientation values use the orientation convention ZYX, based on a right-hand coordinate system. EcoStruxure Machine Expert Twin internally converts the data to a left-hand coordinate system.
In the , they are available as . |
udiUnivocalId |
UDINT |
Reserved |