General information
Safety notes
Project planning information
System description
Basics
Functional description
Startup
Configuration
Control via process controller
RobotMonitor
SRL programming
IEC programming
Process data assignment
Diagnostics
Application examples
Fault management
General information
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Safety notes
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Project planning information
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System description
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Basics
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Functional description
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Startup
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Configuration
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Control via process controller
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RobotMonitor
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SRL programming
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IEC programming
IEC project structure
Opening the IEC project
User interface
Diagnostics
Access management
Configuration (Config)
Basic functions (basic)
Inverter functions (Inverter)
Jog
Referencing (homing)
Program control (Prg)
Physics simulation (physics)
SRL program variables (PrgVar)
IEC function call for the SRL program
Automatic G-code import
Configuration (Config)
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Basic functions (basic)
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Inverter functions (Inverter)
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Jog
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Referencing (homing)
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Program control (Prg)
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Physics simulation (physics)
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CollisionDetection
CollisionDetection
OUT
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SetpointPose_LastCollision
Automatic G-code import
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Process data assignment
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Diagnostics
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Application examples
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Fault management
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OUT
Variable name
Description
xBusy
Data type – BOOL
TRUE – Executes parameterized collision response.
TRUE – Does not execute parameterized collision response.
xDone
Data type – BOOL
TRUE – Parameterized collision response has been completed.
TRUE – Parameterized collision response has not been completed.
Additional information
SetpointPose_LastCollision
MOVIKIT® Robotics
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CollisionDetection
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