IF_RobotMotion - General Information

Overview

Type:	Interface
Available as of:	V1.0.0.0
Inherits from:	-

This chapter provides information on:

Task
Description
Methods
Properties

Task

Interface for motion programming the robot.

Description

With this interface, both motion parameters for a path motion and the path motion itself can be issued or manipulated.

Methods

Name	Description
ChangeCoordinateSystem	Request to change the coordinate system.
ChangeCoordinateSystem2	Request to change the coordinate system set by calling the method IF_RobotMotion.SetCoordinateSystem(...).
ClearSegmentsFromId	Deleting issued motion commands.
Execute	Block or release the execution of sent commands, for example motion commands like IF_RobotMotion.MoveL(…) or IF_RobotMotion.MoveS(…).
GetMaxAccelerationResultant	Reading the maximum resulting acceleration.
GetMotionParameter	Reading the motion parameters.
GetStopOnPath	Reading the parameters of a stop-on-path.
MoveAsync	Asynchronous motion of an auxiliary axis.
MoveC	Circular motion in three-dimensional space.
MoveL	Linear motion in three-dimensional space.
MoveS	Spline motion in three-dimensional space.
MoveSync	Synchronous motion of an auxiliary axis.
ResetStopOnPath	Reset a stop-on-path.
SetCoordinateSystem	Setting the next coordinate system in which the robot should move.
SetMaxAcceleration	Setting the maximum path acceleration.
SetMaxAccelerationResultant	Setting the maximum resulting acceleration.
SetMaxDeceleration	Setting the maximum path deceleration.
SetMaxVelocity	Setting the maximum path velocity.
SetMotionParameter	Setting the motion parameters.
SetRamp	Setting the ramp.
SetStopOnPath	Stop the movement on a connected path.
TransformCoordinate	Transform a position from a source coordinate system into a target coordinate system.

Properties

Name	Data type	Accessing	Description
lrVelOverride	LREAL	Read/Write	Proportional influence of the velocity of the active motion jobs. Unit: [%] Value range: 0 ≤ lrVelOverride ≤ 200. (Since library version V2.6.3.0 the value range changed. Value range: 0 ≤ lrVelOverride ≤ 100). Default value: 100% Changing lrVelOverride influences the present as well as the motion jobs following thereafter. Values greater than the maximum range is set to the maximum range. Every change of lrVelOverride causes a recalculation of the velocity curve and requires respective computing time. Also refer to Behavior of IF_RobotMotion.lrVelOverride. NOTE: A new value of lrVelOverride is only accepted if the last value is fully processed (typically 3 Sercos cycles). In case the value is not accepted, an application logger message is generated.

Name

Data type

Accessing

Description

lrVelOverride

LREAL

Read/Write

Proportional influence of the velocity of the active motion jobs.

Unit: [%]

Value range: 0 ≤ lrVelOverride ≤ 200. (Since library version V2.6.3.0 the value range changed. Value range: 0 ≤ lrVelOverride ≤ 100).

Default value: 100%

Changing lrVelOverride influences the present as well as the motion jobs following thereafter. Values greater than the maximum range is set to the maximum range.

Every change of lrVelOverride causes a recalculation of the velocity curve and requires respective computing time.

Also refer to Behavior of IF_RobotMotion.lrVelOverride.

NOTE:

A new value of lrVelOverride is only accepted if the last value is fully processed (typically 3 Sercos cycles). In case the value is not accepted, an application logger message is generated.