This is part of 2.0.0 – latest release: 2.1.0.

MLxRobotData

0.1.0

Data type for the data of a robot.

Data structure used in MLxData structure.

Contains :

Robot configuration data
Cubic IZ status for each of the 32 available zone IDs.
Current Base Position (e.g. position of a track or a gantry used to position the robot base)
Current TCP offset
Configuration for each axis of the robot
Object queue for up to 4 Conveyors
Active user frame number
Active tool number
Data for digital output timing control

Version history

0.1.0

04 Jan 2021 deGroot

Changes

Changed:

source code ported
version number reset
now using semantic versioning

Overview

name	type	comment
Name_LEN	`DINT`	Stringlength for platform compatibility
Name	`STRING[82]`	User-defined name of Robot.
ConfigurationData	`MLxRobotConfigurationData`	Contains robot-level configuration data (e.g. TCP limits).
CubicIZStatus	`DINT`	The Cubic IZ status. Each bit represents one of the 32 available zone IDs.
BasePose	`ARRAY[0..5] OF REAL`	The current Base Pose of the Robot.
ToolPose	`ARRAY[0..5] OF REAL`	The current active Tool Pose of the Robot.
RobotAxes	`ARRAY[0..7] OF` `MLxAxisData`	Contains axis-level configuration data for each of the robot axes (min/max position, velocity, etc). Note: only the first n indices will have data and the remaining are unused.
Conveyor	`ARRAY[0..3] OF` `MLxRobotConveyorData`	INTERNAL USE ONLY
ActiveUserFrameNumber	`INT`	Specifies the index of the user frame from the ApplicationData.UserFrames[] array that is currently active. -1 indicates no active user frame is set.
ActiveToolNumber	`INT`	Specifies the index of the tool from ApplicationData.Tool[] array that is currently active. -1 indicates no active tool is set.
Output	`MLxRobotOutputData`	The digital output data with motion AOI.

Details

Name_LEN

DINT

Stringlength for platform compatibility

Name

STRING[82]

Name of the robot returned by MLxRobotGetProperties

ConfigurationData

MLxRobotConfigurationData

Contains robot-level configuration data:

Number of axis (DOF)
Maximum linear speed
Maximum angular speed

CubicIZStatus

DINT

The Cubic IZ status.

Each bit represents one of the 32 available zone IDs.

BasePose

ARRAY[0..5] OF REAL

The current Base position of the Robot in the World Frame.

In case there are more than one robot attached to the controller, BasePose gives the robot base position in the World Frame.

ToolPose

ARRAY[0..5] OF REAL

TCP offset written by MLxRobotSelectTool or MLxRobotSetToolProperties

RobotAxes

ARRAY[0..7] OF MLxAxisData

Contains axis-level configuration data for each of the robot axes (min/max position, velocity, etc).

Note: only the first n indices will have data and the remaining are unused.

Conveyor

ARRAY[0..3] OF MLxRobotConveyorData

Contains data for up to 4 conveyors.

ActiveUserFrameNumber

INT

Specifies the index of the user frame from the ApplicationData.UserFrames[] array that is currently active.

-1 indicates no active user frame is set.

ActiveToolNumber

INT

Specifies the index of the tool from ApplicationData.Tool[] array that is currently active.

-1 indicates no active tool is set.

Output

MLxRobotOutputData

Data for digital output timing control.

Used by MLxRobotSetDigitalOutputWithMot Function Block.