Enable state

For software module diagnostics, the enable state of the robot is returned as a signal when it is enabled.

(Interface in the IEC Editor: Basic.OUT.eEnableState)

Enable states with access to axis group members
  • Enable states in which the setpoint of the robot motion control is not activated.
    • Axes in emergency stop (EmergencyStoppedAxes):
    • Emergency stop is requested from all axis group members. The axis group members report idle state/standstill.
    • Emergency stop axis-by-axis (EmergencyStoppingAxes):
    • Emergency stop is requested from all axis group members. The axis group members apply the brakes.
    • Waiting for "Setpoint active" (WaitingForSetpointActive):
    • Interpolated position control is requested for all axis group members. The system waits for the setpoint to be activated.
  • Enable states in which interpolated position control for all axis group members is activated and in which the setpoint of the robot motion control is activated.
    • Emergency stop on the path (EmergencyStoppingOnPath):
    • The robot motion control is currently braking on the path with the specified emergency stop ramps.
    • Position hold control (PositionHoldControl)
    • Setpoint of the robot motion control is constant (idle state). Application stop of the robot is activated.
    • Application stop on the path (ApplicationStoppingOnPath):
    • The robot motion control is currently braking on the path with the application ramps.
    • Waiting for motion command (WaitingForMotionCommand):
    • The robot motion controller waits for the next motion command of the SRL program.
    • Path motion (PathMotion):
    • The robot motion control is currently carrying out a motion command.