Bosch REXROTH MLC 13VRS Robot-Control V2 Referenz-Anleitung Seite 33
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Andere Handbücher für REXROTH MLC 13VRS Robot-Control V2:
- Funktionsbeschreibung (610 Seiten) ,
- Programmieranleitung (332 Seiten) ,
- Projektierungsbeschreibung (244 Seiten)
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DOK-MLC***-ROCO****V13-RE03-DE-P
Rexroth IndraMotion MLC 13VRS Robot-Control V2
Referenz
SPS
Beschreibung
Write Cyclic Position
ML_RobotWriteCyclicPos
(Funktion)
Stop
MC_GroupStop
Interrupt
MC_GroupInterrupt
Continue
MC_GroupContinue
Wait
ML_GroupWait
Referenz
SPS
Beschreibung
Group Reset
MC_GroupReset
Group Axis
MC_AddAxisToGroup
MC_RemoveAxisFrom‐
Remove Axis
Group
Group All Axes
ML_GroupAllAxes
Ungroup All Axes
MC_UngroupAllAxes
Set Kinematik Trans‐
MC_SetKinTransform
formation
Set Kinematik Trans‐
MC_SetKinTransformExt
form Extended
Set Cartesian Trans‐
MC_SetCartesianTransform
formation
Set Cylindric Transfor‐
ML_SetCylindricTransform
mation
Set Belt Configuration
ML_SetBeltConfiguration
Set Belt Desync Relati‐
ML_SetBeltDesyncRelCon‐
ve Configuration
figuration
Set Rotary Table Con‐
ML_SetRotaryTableConfi‐
figuration
guration
Set Belt Error Reaction ML_SetBeltErrorReaction
Set Belt Parameter
ML_SetBeltParameter
Set Safe Zone
ML_GroupSetSafeZone
MLPI core
mlpiRobotWriteCyclicPos
mlpiRobotStop
mlpiRobotInterrupt
mlpiRobotContinue
mlpiGroupWait
V1
Robot-Control V1
V2
Robot-Control V2
Abb.2-4:
Liste aller Bewegungskommandos und Funktionen
Liste aller Konfigurationskommandos
MLPI core
mlpiRobotReset
mlpiMotionAddAxisToGroup
mlpiMotionRemAxisFrom‐
Group
mlpiRobotAddAllAxisTo‐
Group
mlpiRobotRemAllAxisFrom‐
Group
mlpiRobotSetCartesianT‐
ransform
mlpiRobotSetCylindricT‐
ransform
mlpiRobotSetBeltConfigura‐
tion
mlpiRobotSetBeltDesync‐
RelConfiguration
mlpiRobotSetRotaryTable‐
Configuration
mlpiRobotSetBeltErrorRe‐
action
mlpiRobotSetSafeZone
V1
Robot-Control V1
V2
Robot-Control V2
Abb.2-5:
Liste aller Konfigurationskommandos
Bosch Rexroth AG
Funktionsbeschreibung
MLPI COM
V1
MLPI Java
Stop
Interrupt
Continue
Wait
MLPI COM
V1
MLPI Java
Reset
x
x
x
AddAllAxisToGroup
x
RemAllAxisFromGroup
x
x
SetCartesianTransform
SetCylindricTransform
SetBeltConfiguration
SetBeltDesyncRelCon‐
figuration
SetRotaryTableConfi‐
guration
SetBeltErrorReaction
x
SetSafeZone
31/401
V2
x
x
x
x
x
V2
x
x
x
x
x
x
x
x
x
x
x
x
x
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