Datatypes
All datatypes introduced by RobCo are marked with a leading RobCo_:
| Datatype | Purpose |
|---|---|
RobCo_Input, RobCo_Output | full device interface definition |
RobCo_Cartesian_Pose | TCP positions and orientation |
RobCo_JointAngle_Pose | joint angle array |
RobCo_Input_Codes | Robot status codes |
RobCo_Input_Flags | convenient state observations |
RobCo_Output_Flags | single bit operations, e.g. engage brakes |
RobCo_Profinet_variables | user-defined Profinet Variables in RobFlow |
They are distributed as two .udt (user defined type) files, which contain the
data types and can be used to import the message format:
RobCo_Datatypes.udtRobCo_Profinet_Variables.udt
Importing them is what makes the addresses in Data Fields and Address Offsets usable as named structures instead of raw offsets.
note
The RobCo_Profinet_Variables.udt file contains demo Variables, as an empty struct
is not allowed by TIA. See Profinet Variables for what it is for,
and Define Profinet Variables to configure your own.
To import them, see Import .udt in a TIA project.