Configuration (Config)

Interface in the IEC Editor

The variables are initially written with the configuration made in MOVISUITE^®.

The variables are applied by the robot controller if the robot is not enabled, i.e. the variable Interface_MyRobot.Basic.OUT.eEnableState returns one of the following states (namespace: SEW_MK_Robotics.SEW_IRobHPub).

• EmergencyStoppedAxes
• EmergencyStoppingAxes
• WaitingForSetpointActive

This is, among others, the case if Interface_MyRobot.Basic.IN.xEnable_EmergencyStop is "FALSE" or Interface_MyRobot.xError is "TRUE".

INFORMATION

Information on consistently adjusting the tool transformation, e.g. for fine-grained corrections of the path based on sensor information, can be found in chapter Steady adjustments to the tool transformation.

• CartesianLimits
• Transformations