Bosch REXROTH MLC 13VRS Robot-Control V2 Referenz-Anleitung Seite 6

IV/401 Bosch Rexroth AG
Inhaltsverzeichnis
Ein- und Ausgänge zustandsgesteuerter Funktionsbausteine, abschließende Bearbeitung....... 124
Ein- und Ausgänge flankengesteuerter Funktionsbausteine, abschließende Bearbeitung.......... 127
Ein- und Ausgänge zustandsgesteuerter Funktionsbausteine, permanente Bearbeitung............ 130
Ein- und Ausgänge flankengesteuerter Funktionsbausteine, permanente Bearbeitung.............. 133
5.3.3 Funktionsbausteine Config.............................................................................................................. 135
MC_GroupReset........................................................................................................................... 135
MC_SetCartesianTransform......................................................................................................... 136
MC_SetKinTransform................................................................................................................... 138
MC_SetKinTransformExt.............................................................................................................. 139
MC_UngroupAllAxes.................................................................................................................... 140
ML_AddMechanicData................................................................................................................. 142
ML_GroupAllAxes......................................................................................................................... 142
ML_GroupSetSafeZone................................................................................................................ 144
ML_KinSetDistanceBlendOption ................................................................................................. 145
ML_SetBeltDesyncRelConfiguration............................................................................................ 146
ML_SetBeltConfiguration.............................................................................................................. 147
ML_SetBeltErrorReaction............................................................................................................. 149
ML_SetBeltParameter.................................................................................................................. 150
ML_SetCylindricTransform........................................................................................................... 152
ML_SetRotaryTableConfiguration................................................................................................ 154
5.3.4 Funktionsbausteine und Funktionen Info......................................................................................... 155
MC_GroupReadActualPosition..................................................................................................... 155
ML_KinGetDistanceBlendOption.................................................................................................. 157
ML_RobotGetBeltConfiguration.................................................................................................... 157
ML_RobotGetBeltDesyncRelConfiguration.................................................................................. 158
ML_RobotGetBeltErrorReaction................................................................................................... 159
ML_RobotGetMechanic................................................................................................................ 161
ML_RobotGetPerformance........................................................................................................... 162
ML_RobotGetTrafoValues............................................................................................................ 163
ML_RobotMovePoint.................................................................................................................... 164
ML_RobotReadCyclicPos............................................................................................................. 165
ML_RobotSetPerformanceEnable................................................................................................ 166
ML_RobotTransformPoint............................................................................................................. 168
ML_SwitchOnPath........................................................................................................................ 169
5.3.5 Funktionsbausteine Movement........................................................................................................ 170
MC_GroupContinue...................................................................................................................... 170
MC_GroupInterrupt....................................................................................................................... 171
MC_GroupStop............................................................................................................................. 172
MC_MoveCircularAbsolute........................................................................................................... 174
MC_MoveCircularRelative............................................................................................................ 176
MC_MoveDirectAbsolute.............................................................................................................. 178
MC_MoveDirectRelative............................................................................................................... 180
MC_MoveLinearAbsolute............................................................................................................. 182
MC_MoveLinearRelative.............................................................................................................. 185
ML_BeltDeSynchronisationWithLimits.......................................................................................... 186
ML_BeltSynchronisationWithLimits.............................................................................................. 188
DOK-MLC***-ROCO****V13-RE03-DE-P
Rexroth IndraMotion MLC 13VRS Robot-Control V2
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