OUT

Variable name

Description

xReady

Data type – BOOL

  • TRUE – Software module is ready for operation (ready for enable)
  • FALSE – Software module is not ready for operation. Not all requirements for successful enable are fulfilled (error message with the cause is reported if enable is nevertheless carried out).

xSetpointStandstill

Data type: BOOL

  • TRUE – Target pose is in idle state/standstill.
  • FALSE – Target pose is not in idle state/standstill. The robot is moving.

xOutOfWorkspace

Data type – BOOL

  • TRUE – Robot is outside the allowed work envelope
  • FALSE – Robot is within the allowed work envelope

eActCoordSys

Data type: E_COORDSYS

Coordinate system in which the path is currently being interpolated (Base, Joint, World, User).

Namespace: SEW_MK_Robotics.SEW_IRobMoCPub

eOperatingMode

Data type: E_OPERATINGMODE

Operating mode

  • Manual_WithHighSpeed
  • Automatic

Namespace: SEW_MK_Robotics.SEW_IRobHPub

eEnableMode

Data type: E_ENABLEMODE

Current enable mode. Enable mode

  • EmergencyStop_Axes
  • EmergencyStop
  • ApplicationStop
  • Enable

Namespace: SEW_MK_Robotics.SEW_IRobHPub

eEnableState

Data type – E_ENABLESTATE

Enable state. Enable state

  • EmergencyStoppedAxes
  • EmergencyStoppingAxes
  • WaitingForSetpointActive
  • EmergencyStoppingOnPath
  • PositionHoldControl
  • ApplicationStoppingOnPath
  • WaitingForMotionCommand
  • PathMotion

Namespace: SEW_MK_Robotics.SEW_IRobHPub

eControlMode

Data type: E_CONTROLMODE

Type of control. Type of control

  • Inactive
  • JogMode
  • ProgramMode

Namespace: SEW_MK_Robotics.SEW_IRobHPub

Additional information