Additional Configurations

Emergency parameters

The necessary data for an emergency stop must be configured.

Detailed information can be found under: SetEmergencyParameter in RoboticModule Library Guide.

T-Series configurations

Parameters to configure the Parallel linkage type and the used Working plane.

Parallel linkage type: Type A or type B determines the drive with parallel linkage construction.

Type A:

Type B:

Detailed information can be found under: ET_RobotTSeriesConfiguration in SchneiderElectricRobotics Parameters Library Guide.

Modify coordinate system

The robot coordinate system can be modified. If the check box Modify is not set, the coordinate system is set to default values defined by the selected robot.

Detailed information can be found under: ModifyCoordinateSystem in RoboticModule Library Guide.

The displayed Offset parameters depend on the configured Working plane.

Working plane XY:

Working plane XZ:

Working plane YZ:

Detailed information can be found under: Cartesian2Ax in RoboticModule Library Guide.

CollisionHandler

Select the checkbox Create CollisionHandler Interface to configure the collision handler. If the checkbox Create CollisionHandler Interface is selected, the Collision Margin value can be set.

The property SR_<Robot_T-Series_Name>.ifCollisionHandlerTSeries is configured based on this configuration.

Detailed information can be found under: FB_CollisionHandlerTSeries in the SchneiderElectricRobotics Library Guide.