Structures RobotWorkAreaData - ThorstenBrach/SRCI GitHub Wiki

Timestamp

IEC_TIMESTAMP

-

Timestamp

AreaType

AreaType

-

Defines type of work area

AreaMode

BOOL

-

Defines violation condition
- FALSE (default): Robot must not leave defined area
- TRUE: Robot must not enter defined area

ReactionMode

WorkAreaReactionMode

-

Defines RC’s and robot’s behavior when robot violates work area

ActiveModification

BOOL

-

Specifies whether an active work area can be edited by function WriteWorkArea
- TRUE: Modification of active work area possible
- FALSE (default): Modification of active work areas not possible

DefinitionMode

DefinitionMode

-

Relates to AreaType Box, Cylinder and Sphere

FrameNo

USINT

-

Index of reference frame
- 0: WCS (default)
- 1..254: User frames

ZeroPointX

REAL

-

X-value of reference point in specified frame

ZeroPointY

REAL

-

Y-value of reference point in specified frame

ZeroPointZ

REAL

-

Z-value of reference point in specified frame

X

RobotWorkAreaDataLimitCartesian

-

Limit for cartesian X

Y

RobotWorkAreaDataLimitCartesian

-

Limit for cartesian Y

Z

RobotWorkAreaDataLimitCartesian

-

Limit for cartesian Z

Radius

REAL

-

Radius of cylinder or sphere

J1Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint J1

J2Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint J2

J3Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint J3

J4Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint J4

J5Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint J5

J6Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint J6

E1Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint E1

E2Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint E2

E3Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint E3

E4Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint E4

E5Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint E5

E6Limit

RobotWorkAreaDataLimitJoint

-

Limits for Joint E6