IF_HardwareLimit - General Information

Overview

Type:

Interface

Available as of:

V1.0.0.0

Inherits from:

-

This chapter provides information on:

Description

Interface to transfer hardware limits to the RoboticModule. Active limits lead to responses from the RoboticModule depending on the active operation mode.

Properties

Name

Data type

Accessing

Description

raxAuxAxNegative

REFERENCE TO ARRAY [ROB.ET_RobotComponent.AuxAx1..ROB.ET_RobotComponent.AuxAxAll+ROB.Gc_udiMaxNumberOfAuxiliaryAxes] OF BOOL

Read / Write

Negative hardware limit for an auxiliary axis.

raxAuxAxPositive

REFERENCE TO ARRAY [ROB.ET_RobotComponent.AuxAx1..ROB.ET_RobotComponent.AuxAxAll+ROB.Gc_udiMaxNumberOfAuxiliaryAxes] OF BOOL

Read / Write

Positive hardware limit for an auxiliary axis.

raxAxisNegative

REFERENCE TO ARRAY [ROB.ET_RobotComponent.AxisA..ROB.ET_RobotComponent.ROB.ET_RobotComponent.AxisAll+ROB.Gc_udiMaxNumberOfAxes] OF BOOL

Read / Write

Negative hardware limit for axes.

raxAxisPositive

REFERENCE TO ARRAY [ROB.ET_RobotComponent.AxisA..ROB.ET_RobotComponent.AxisAll+ROB.Gc_udiMaxNumberOfAxes] OF BOOL

Read / Write

Positive hardware limit for axes.

raxCartesianNegative

REFERENCE TO ARRAY [ROB.ET_RobotComponent.CartesianX..ROB.ET_RobotComponent.ROB.ET_RobotComponent.CartesianZ] OF BOOL

Read / Write

Negative hardware limit of the X, Y, Z axis of the robot coordinate system.

raxCartesianPositive

REFERENCE TO ARRAY [ROB.ET_RobotComponent.CartesianX..ROB.ET_RobotComponent.CartesianZ] OF BOOL

Read / Write

Positive hardware limit of the X, Y, Z axis of the robot coordinate system.

etAuxAxSignalType

ET_SignalType

Read / Write

Selection whether the signals to raxAuxAxNegative and raxAuxAxPositive are issued as normally-closed contacts / ET_SignalType.NormallyClosed or normally-open contacts / ET_SignalType.NormallyOpen.

etAxisSignalType

ET_SignalType

Read / Write

Selection whether the signals to raxAxisNegative and raxAxisPositive are issued as normally-closed contacts / ET_SignalType.Normallyclosed or normally-open contacts / ET_SignalType.NormallyOpen.

etCartesianSignalType

ET_SignalType

Read / Write

Selection whether the signals to raxCartesianNegative and raxCartesianPositive are issued as normally-closed contacts / ET_SignalType.NormallyClosed or normally-open contacts / ET_SignalType.NormallyOpen.