Optional module for motion diagnostics with variable size

PI 5

1

Work envelope left

The robot is outside the allowed work envelope.

2

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.

PI 6

0-15

Translational speed

Translation speed of the TCP in the current coordinate system.

PI 7 to 6+p*

0-15

Target pose in BCS

Target position of the base coordinate system.

PI 7+p*

0-7

Currently approached pose

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.

8-15

Remaining segments

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

PI 8+p*

0-15

Target distance

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

PI 9+p* to 8+2p*

0-15

Target pose in JCS

Target pose of the joint axes of the kinematic model.