Module for motion diagnostics in the standard profile
Word | Bit | In | Description |
|---|---|---|---|
5 | 0 | Work envelope left | The robot is outside the allowed work envelope. |
1 | Current motion task executed | All motion jobs and path events are executed with delay time. | |
… | … |
| |
8-15 | Constellation | Setpoint of the constellation of the kinematics. | |
6 | 0-15 | Translational speed | Translation speed of the TCP in the current coordinate system. |
7 | 0-15 | Target pose in BCS | Target position of the base coordinate system. |
8 | 0-15 | Target pose in BCS | |
9 | 0-15 | Target pose in BCS | |
10 | 0-15 | Target pose in BCS | |
11 | 0-7 | Currently approached pose | Number of currently covered path segment. |
8-15 | Remaining segments | Number of path segments that have been considered in motion planning and have not yet been traveled. | |
12 | 0-15 | Target distance | Remaining distance of the path segments that have been considered in motion planning and have not yet been traveled. |
13 | 0-15 | Target pose in JCS (J1 coordinate) | Target pose of the joint axes of the kinematic model. |
14 | 0-15 | Target pose in JCS (J2 coordinate) | |
15 | 0-15 | Target pose in JCS (J3 coordinate) | |
16 | 0-15 | Target pose in JCS (J4 coordinate) |
