Other SRL program variables

INFORMATION

When initializing the MOVI-C^® CONTROLLER (SEW_PRG.Init), the SRL variables used by the process data interface are assigned names that also provide information about the exact process data word and the bit. To view this, open the RobotMonitor after configuring and starting the MOVI-C^® CONTROLLER and scroll to the corresponding position in the SRL variable list. This automatic naming can be deactivated in order to use customer-specific names by setting "Name used SRL variables automatically" in the "Fieldbus configuration" section of the "Fieldbus interface" > "Basic settings" configuration menu.

SRL program variables (poses, reals, Booleans) can be mapped to the fieldbus as process input data word as well as process output data word by simple configuration. Refer to chapter More pose variables. These are appended to the end of the fieldbus interface. The signals are mapped in a way that saves as much space as possible.

The following special case exists if only other SRL program variables are used in a consistent block of process output data that is not the first, without the block starting with a standard path segment: The other variables then only start from the 2nd PD of the consistent block. The 1st PD is used as a control word, where bit 15 is the handshake bit for consistency. See also chapter Consistent data transmission.

Example

First the poses are mapped, then the real variables, and then the Boolean variables. For data types smaller than WORD, several real variables are mapped into one WORD (in the following example real 2 and 3). The Boolean variables fill up the WORDs started by the real variables (in the example Booleans 1-4) and are then continued in the next WORD (in the example Booleans 1-4).

Configuration:

• 1 pose with X as DWORD, Y, Z and A as WORD
• 3 real variables as WORD, BYTE and NIBBLE
• 8 Boolean variables

Fieldbus interface: