Standard path segments in the standard profile
INFORMATION
The numbering of process data does not refer to the absolute number in the fieldbus interface but is only the relative number in the standard path segment.
The shape of the standard path segment is a straight line (LIN).
Word | Bit | In | Description |
|---|---|---|---|
PO 1 | 0-3 | Motion parameter set | Selection of the motion parameter set for this path segment via the 4 bits as NIBBLE. |
4 | Wait point | TRUE – Stopping at the previous pose is forced. It must be set to "TRUE" since program start. FALSE – Enable for traveling this path segment if the path has not already been terminated by a path end (bit 5). | |
5 | Path end | TRUE – End program at this target pose. Only the first path end (across all path segments in the entire telegram) is effective. The signal must remain set to "TRUE" between program start and program end. | |
… | … |
| |
15 | Handshake_PO | This signal is only relevant when using more than one consistent block. From the 2nd consistent block onward, only the handshake bit of the 1st path segment in the consistent block is relevant. See also chapter Consistent data transmission. | |
PO 2 | 0-15 | Blending distance | Blending distance between the last path segment and this path segment (i.e. at the target pose of the last path segment) |
PO 3-6 | 0-15 | Target pose | Specification of the target pose for this path segment (X, Y, Z, and A coordinates) |
