Machine Expert > V2.1 > Software > Librerie, Modellis e Esempi > Librerie > Librerie di Comunicazione > DigitalTwinCommunication Library Guide > Data Unit Types > Generic Structures > ST_ConfigDataGeneric

ST_ConfigDataGeneric

Overview

Type:

Structure

Available as of:

V1.0.0.0

Inherits from:

-

Description

The structure ST_ConfigDataGeneric contains general parameters for the configuration of entities like, for example, robots or conveyors in EcoStruxure Machine Expert Twin.

Specific parameters, for example for individual robot types, are provided in separate ST_ConfigDataRobot<type> structures.

Structure Elements

Name

Data type

Description

sCategory

STRING[80]

The type of entity, for example, a robot or conveyor. As a prerequisite, the corresponding assembly must be available in the EcoStruxure Machine Expert Twin catalog. It is displayed in EcoStruxure Machine Expert Twin under Properties > Identification > Category.

Example:

In communications between the controller and EcoStruxure Machine Expert Twin, the string P4Flat defines the following entity:

  • P4 robot

  • with a flat housing

  • without rotational axis

Two options are available for setting the value in the structure:

  • Add the corresponding string.

  • Use the function TO_STRING(ENUM.element) to add a string.

sName

STRING[80]

A string which uniquely identifies the entity by name. It is displayed in EcoStruxure Machine Expert Twin in the scene and in the Solution Explorer. In the Properties, it is available as Identification > Name.

Example:

'RobotOutfeed'

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 assembly 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.

In the EcoStruxure Machine Expert Twin Properties view, the values are available in the Position area.

stOrientation

SE_MATH.ST_Vector3D

The 3-D vector that provides the rotation of each axis of the assembly 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 EcoStruxure Machine Expert Twin Properties view, the values are available in the Orientation area.

udiUnivocalId

UDINT

The concept of a univocal identification number (ID) assigns a unique identifier to each relevant entity and target. It is used for the interaction between entities and targets.