Module for motion diagnostics in the standard profile
Word | Bit | In | Description |
|---|---|---|---|
PI 5 | 0 | Leave the workspace | The robot is outside the allowed work envelope. |
1 | 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 | 0-15 | Target pose in BCS | Target position of the base coordinate system |
PI 8 | 0-15 | Target pose in BCS | |
PI 9 | 0-15 | Target pose in BCS | |
PI 10 | 0-15 | Target pose in BCS | |
PI 11 | 0-7 | Currently approached pose | Number of currently covered path segment. |
8-15 | Remaining segments | Number of path segments that have been considered in motion planning and have not yet been traveled. | |
PI 12 | 0-15 | Target distance | Remaining distance of the path segments that have been considered in motion planning and have not yet been traveled. |
PI 13 | 0-15 | Target pose in JCS (J1 coordinate) | Target pose of the joint axes of the kinematic model |
PI 14 | 0-15 | Target pose in JCS (J2 coordinate) | |
PI 15 | 0-15 | Target pose in JCS (J3 coordinate) | |
PI 16 | 0-15 | Target pose in JCS (J4 coordinate) |
