|
Name |
Data type |
Description |
|---|---|---|
|
udiListIndex |
UDINT |
The index of the target in the list handled by the function block. Some methods of the function block can require this index to refer to a specific target. |
|
udiUnivocalId |
UDINT |
Unique reference to the target in the system. |
|
stCurrentPose |
ST_CartesianPose |
Present Cartesian pose of the target referred to the coordinate system linked to the function block. In case of a moving system (such as a conveyor), the pose of the target is updated autonomously by the function block. |
|
etSystemId |
Identifier of the coordinate system to which the pose is referred. |
|
|
uiType |
UINT |
Integer value representing a type of target (for example, Product1 = 1, Product2 = 2, Place = 3, etc.). |
|
xProcessed |
BOOL |
Flag that can be used to specify whether a target has already been processed or not (for example, a place target has been filled). |
|
etRobotId |
ET_SystemEntity |
Identifier that specifies whether the target has already been assigned to a robot. A value of zero means that the target is available. |
|
stInitialPose |
ST_CartesianPose |
Cartesian pose of the target when it was first detected in the present coordinate system. |
|
lrInitialEncoderPosition |
LREAL |
Position of the encoder linked to a moving system when the target was first detected in a coordinate system. |
|
lrMaxZone |
LREAL |
If zero, the robot must reach exactly the target pose. Otherwise, the robot can pass near the pose in accordance with the zone value. |