Basic settings

Fieldbus configuration

Activate fieldbus connection

Activate fieldbus connection and automatically add MOVIKIT^® fieldbus monitor to the IEC project for monitoring and controlling the fieldbus interface.

Overwrite the names of the SRL variables

When initializing the MOVI-C^® CONTROLLER (SEW_PRG.Init), the SRL variables used by the process data interface are automatically assigned names. These names contain information about the exact process data word and the bit. To view the names, open the RobotMonitor after configuring and starting the MOVI-C^® CONTROLLER and scroll to the corresponding position in the SRL variable list.

Start address

Start address of the process data in the array of the bus system. Counting starts at 1

Process data length

Basic process data

Number of pieces of process data for the software module without activated "Additional functions"

Additional process data user program

Extends the fieldbus interface of the software module with further process data that can be described in the IEC user program. For this purpose, a function block is required that implements the SEW_IFbusHdl.IFieldbusUserMapping interface and is connected to the robot using the PD_MyRobot.LinkUserMapping(fbUserMapping) method. See also chapter Extending the process data interface by "Additional process data for user program".

Decimal places via fieldbus

Table for setting the decimal places for position, speed, acceleration, and jerk for translation and rotation via the fieldbus. A higher accuracy is achieved because the pose values and speed values can only be transmitted as integers via the fieldbus. These settings apply to all variables in the fieldbus interface of the selected type.

If the decimal places in the software module are set greater than 0, the input values in the MOVI-C^® CONTROLLER are divided by a factor of 10^{NumberOfDecPlaces} before they are processed as floating-point numbers. On the other hand, the output values in the MOVI-C^® CONTROLLER are multiplied by this factor before they are transferred to the higher-level controller.

If the decimal places are set to 2, and a MOVI-C^® CONTROLLER input word contains the value 1, then the controller is operated with the value 0.01. If the decimal places are set to 2, and a MOVI-C^® CONTROLLER output word contains the value 1, this value must be interpreted as 0.01 in the higher-level controller.

Fieldbus profile template

Fieldbus profile

Selection of the fieldbus profile:

• Standard profile for positioning
• Flexible, parameterizable profile

For further information, refer to chapter Fieldbus profiles.

Fieldbus profile template

Maximum number of path segments per telegram (target pose as well as wait and end signals)

The maximum number of path segments is transmitted in one telegram and can be run without exact stop between the path segments. By means of the end signals contained in the path segments, the number of path segments can be adjusted during operation from path to path between 1 and the maximum number of 50.

Consistency of a telegram

Size of consistent blocks

Setting of the size of the consistent blocks used by the higher-level controller in the fieldbus interface section of the software module. The size must be kept the same for all consistent blocks in the fieldbus interface section of the software module on the higher-level controller (except for the last)

Number of consistent blocks

Setting of the number of consistent blocks used by the higher-level controller in the fieldbus interface section of the software module

Expansion modules

Activation of the robot diagnostics module

Assignment of the expansion module "Robot Diagnostics Module" on the bus. It is recommended to activate the expansion module.

Size of a pose variable

Table for setting the size of the individual coordinates of all poses in the fieldbus interface of the software module. You can choose between "No (0 bit)", "WORD (16 bits)" and "DWORD (32 bits)".

The sum of the bits over all coordinates results in the pose size on the bus. By default, only X, Y, Z, A are transmitted as WORD. "No" is selected for B and C. This also applies to the "standard profile for positioning". Only if the total pose size changes (e.g. by adding B as a WORD), other signals in the interface will be shifted (in the example, backwards by one WORD per pose).