General settings

Fieldbus configuration

Activate fieldbus connection

Activating the fieldbus connection. For further information, refer to chapter Fieldbus interface

Start address

Defining the start address of the software module in the fieldbus interface of the MOVI-C^® CONTROLLER

Process data length

Process data length automatically calculated based on the configuration

Decimal places via fieldbus

Table for setting the decimal places for position, speed, acceleration, and jerk for translation and rotation via the fieldbus. A higher accuracy is achieved because the pose values and speed values can only be transmitted as integers via the fieldbus. These settings apply to all variables in the fieldbus interface of the selected type.

If the decimal places in the software module are set greater than 0, the input values in the MOVI-C^® CONTROLLER are divided by a factor of 10^{NumberOfDecPlaces} before they are processed as floating-point numbers. On the other hand, the output values in the MOVI-C^® CONTROLLER are multiplied by this factor before they are transferred to the higher-level controller.

If the decimal places are set to 2, and a MOVI-C^® CONTROLLER input word contains the value 1, then the controller is operated with the value 0.01. If the decimal places are set to 2, and a MOVI-C^® CONTROLLER output word contains the value 1, this value must be interpreted as 0.01 in the higher-level controller.

Fieldbus profile template

Fieldbus profile

Selection of the fieldbus profile:

• Standard profile for positioning
• Flexible, parameterizable profile

For further information, refer to chapter Fieldbus profiles.

Fieldbus configuration

Maximum number of path segments per telegram (target pose as well as wait and end signals)

The maximum number of path segments is transmitted in one telegram and can be run without exact stop between the path segments. By means of the end signals contained in the path segments, the number of path segments can be adjusted during operation from path to path between 1 and the maximum number.

Consistency of a telegram

Size of consistent blocks

Setting of the size of the consistent blocks used by the higher-level controller in the fieldbus interface area of the software module. The size must be kept the same for all consistent blocks in the fieldbus interface area of the software module on the higher-level controller (except for the last = "Number of consistent blocks" parameter)

Number of consistent blocks

Setting of the number of consistent blocks used by the higher-level controller in the fieldbus interface area of the software module

Expansion modules

Activating the robot diagnostics module

Assignment of the expansion module "Robot Diagnostics Module" on the bus. It is recommended to activate the expansion module.

Size of a pose variable

Table for setting the size of the individual coordinates of all poses in the fieldbus interface of the software module. You can choose between "No (0 bit)", "WORD (16 bits)" and "DWORD (32 bits)".

The sum of the bits over all coordinates results in the pose size on the bus. By default, only X, Y, Z, A are transmitted as WORD. "No" is selected for B and C. This also applies to the "standard profile for positioning". Only if the total pose size changes (e.g. by adding B as a WORD), other signals in the interface will be shifted (in the example, backwards by one WORD per pose).