IF_RobotTSeriesFeedback

IF_RobotTSeriesFeedback - General Information

Overview

This chapter provides information on:

Task

Additional feedback values to detect if a Lexium T Robot reaches a limit value, even without a real kinematic.

Description

The interface IF_RobotTSeriesFeedback contains properties for feedback values.

The values for the feedback are not calculated by default but must be activated by you.

The values can be used, for example, for simulation.

Properties

Name	Data type	Accessing	Description
raifVirtualMotorAxis	REFERENCE TO ARRAY [ROB.ET_RobotComponent.AxisA..ROB.ET_RobotComponent.AxisB] OF IF_VirtualMotor	Read	Get access to the calculated values of a virtual motor.
xEnable	BOOL	Read/write	TRUE: The execution/calculation of the values for the virtual motors is executed. FALSE: The execution/calculation of the values for the virtual motors is not executed.

Name

Data type

Accessing

Description

raifVirtualMotorAxis

REFERENCE TO ARRAY [ROB.ET_RobotComponent.AxisA..ROB.ET_RobotComponent.AxisB] OF IF_VirtualMotor

Read

Get access to the calculated values of a virtual motor.

xEnable

BOOL

Read/write

TRUE: The execution/calculation of the values for the virtual motors is executed.

FALSE: The execution/calculation of the values for the virtual motors is not executed.