Module for motion diagnostics in the standard profile

PI 5

1

Leave the workspace

The robot is outside the allowed work envelope.

2

Current motion task executed

All motion jobs and path events are executed with delay time.

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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

Setpoint position in BCS
(x coordinate)

Target position of the base coordinate system

PI 8

0-15

Setpoint position in BCS
(y coordinate)

PI 9

0-15

Setpoint position in BCS
(z coordinate)

PI 10

0-15

Setpoint position in BCS
A coordinate)

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

Setpoint position in JCS (J1 coordinate)

Target pose of the joint axes of the kinematic model

PI 14

0-15

Setpoint position in JCS (J2 coordinate)

PI 15

0-15

Setpoint position in JCS (J3 coordinate)

PI 16

0-15

Setpoint position in JCS (J4 coordinate)