OUT

uiProgramNumber

Data type: UINT

Number of the main program that is currently being executed. This does not exclude the possibility that a subroutine is currently being executed.

eProgramState

Data type: E_PROGRAMSTATE

Program execution state. Program mode

• NotInitialized
• Initialized
• BeingExecuted
• Paused
• Finished
• BackToPathRequired
• BackToPathActive

Namespace: SEW_MK_Robotics.SEW_IRobHPub

xMotionDone

Data type – BOOL

• TRUE – All motion jobs and path events are executed with delay time
• FALSE – Not all motion jobs have been executed yet

uiActPoseArrayIndex

Data type: UINT

List index of the pose variable (PrgVar.astPoseValues) that is used as the target pose in the current motion command. In case of a motion command that does not use a pose variable, the index output is 0.

uiRemainingPathSegments

Data type: UINT

Number of path segments that have been considered in motion planning and have not yet been traveled.

uiRemainingDistance

Data type: UINT

Remaining distance of the path segments that have been considered in motion planning and have not yet been traveled.

uiRemainingTime

Data type: UINT

Remaining time of the path segments that have been considered in motion planning and have not yet been traveled.

uiNumberOfUserCoordSysChanges

Data type – UINT

Number of changes to a USER coordinate system and between different USER coordinate systems. Is reset to 0 in program mode when changing to the BASE coordinate system. An overflow occurs directly to the value 1.