Data type for storing interference zone data.
Data structure used by MLxRobotSetCubicIZByCenterPoint and
MLxRobotSetCubicIZByTwoCorners commands.
Contains the interference zone data.
Relevant parameters for MLxRobotSetCubicIZByCenterPoint are :
CubicIZTypeset to 1CenterPointdefining IZ center point[X,Y,Z,Rx,Ry,Rz]Dimensionsdefining IZ dimensions[length, width, height]
Relevant parameters for MLxRobotSetCubicIZByTwoCorners are :
CubicIZTypeset to 0Corner1defining the first corner position[X,Y,Z]Corner2defining the second corner position[X,Y,Z]CoordFramedefining the frame in which corners position are given
Version history
0.1.0
Changes
- source code ported
- version number reset
- now using semantic versioning
Overview
| name | type | default | comment |
|---|---|---|---|
| Name_LEN | DINT | Stringlength for platform compatibility | |
| Name | STRING[82] | User-defined name of the Cubic IZ. | |
| CubicIZType | DINT | -1 = IZ not defined, 0 = Two Corners, 1 = Center Point | |
| ZoneAction | DINT | 0 = Status Only, 1 = Stop Motion, 2 = Clear IZ | |
| Corner1 | ARRAY[0..2] OF REAL | VALID ONLY WITH CubicIZType = 0. Defines first corner of the Cubic IZ. | |
| Corner2 | ARRAY[0..2] OF REAL | VALID ONLY WITH CubicIZType = 0. Defines second corner of the Cubic IZ. | |
| CoordFrame | DINT | VALID ONLY WITH CubicIZType = 0. 0 = Robot, 1 = Base, 2 = User. | |
| CenterPoint | ARRAY[0..5] OF REAL | VALID ONLY WITH CubicIZType = 1. Defines the [X,Y,Z,RX,RY,RZ] position of the center of the Cubic IZ. | |
| Dimensions | ARRAY[0..2] OF REAL | VALID ONLY WITH CubicIZType = 1. Defines the length (X), width (Y), and height (Z) of the Cubic IZ around the Center Point. | |
| RobotActiveStatus | ARRAY[0..1] OF SINT | Contains the active IZ Type for each robot (index 0 = Robot 0, index 1 = Robot 1). | |
| Padding | ARRAY[0..1] OF SINT | Placeholder for platform compatibility |
Details
Name_LEN
DINTStringlength for platform compatibility
Name
STRING[82]User-defined name of the Cubic IZ.
CubicIZType
DINTType of interference zone definition
| Variable | Definition |
|---|---|
| -1 | IZ not defined |
| 0 | By Two Corners |
| 1 | By Center Point |
ZoneAction
DINTAction of the IZ
| Variable | Definition | Description |
|---|---|---|
| 0 | Status Only | As long as the TCP is inside the IZ , the bit in MLX.Robot[].CubicIZStatus corresponding to the ZoneID will is ON. This can then be used in application logic to perform or prevent certain operations while the robot is inside the zone |
| 1 | Stop Motion | When the TCP attempts to enter the IZ, the Robot will Abort and transition to ServosOffAborted state. This is useful when the Robot has delicate items in the workspace that should be avoided |
| 2 | Clear IZ | Deactivate the current IZ |
Corner1
ARRAY[0..2] OF REALVALID ONLY WITH CubicIZType = 0.
Defines first corner of the Cubic IZ [X,Y,Z].
Corner2
ARRAY[0..2] OF REALVALID ONLY WITH CubicIZType = 0.
Defines second corner of the Cubic IZ [X,Y,Z].
CoordFrame
DINTVALID ONLY WITH CubicIZType = 0.
| Variable | Definition |
|---|---|
| 0 | Robot |
| 1 | Base |
| 2 | User |
CenterPoint
ARRAY[0..5] OF REALVALID ONLY WITH CubicIZType = 1.
Defines the [X,Y,Z,RX,RY,RZ] position of the center of the Cubic IZ.
Dimensions
ARRAY[0..2] OF REALVALID ONLY WITH CubicIZType = 1.
Defines the length (X), width (Y), and height (Z) of the Cubic IZ around the Center Point.
RobotActiveStatus
ARRAY[0..1] OF SINTContains the active IZ Type for each robot (index 0 = Robot 0, index 1 = Robot 1).
Padding
ARRAY[0..1] OF SINTPlaceholder for platform compatibility