Process input data

PI 1-4

Status words 1-4

Basic signals for diagnosing the robot via fieldbus. See Status words 1-4.

PI 5 or higher

Optional process data modules

Optional process data modules can additionally be configured for PI 5 and higher. The following order applies:

– Status word for motion diagnostics

– Other poses (SRL program variables)

– Other reals (SRL program variables)

– Other Booleans (SRL program variables)