Consistent data transmission
WARNING
Unforeseen movement of the robot due to inconsistencies when using more than one consistent block for the software module
May result in death, severe injuries or damage to property
- Ensure consistency between the consistent blocks by controlling the handshake bits accordingly. See also chapter Controlling the handshake bit.
For consistent data transmission to the MOVI-C® CONTROLLER, the process data must be configured accordingly in the higher-level controller. Consistent blocks must be used in the fieldbus master that match the selected process data profile. It is recommended to have the robot instance and the consistent block start with the same process data word.
The MOVI-C® CONTROLLER supports consistent data blocks of up to 64 process data words (see the MOVI-C® CONTROLLER documentation). This ensures consistent data transmission for the "standard profile for positioning" with up to 10 standard path segments. More than one consistent block must be used from 11 standard path segments onward, in which case up to 10 standard path segments always fit into one consistent block. This must be considered individually for the "Flexible, parameterizable profile" fieldbus profile, as this fieldbus profile is configured explicitly via the "Size of consistent blocks" and "Number of consistent blocks" parameters.
If more than one consistent block is used for the software module, the process output data is only accepted if all handshake bits have the same level (all TRUE or all FALSE). An implementation proposal for process control can be found in chapter Controlling the handshake bit. The handshake bit is always on PO 1:15 of the respective consistent block.
