Enumerations CmdType - ThorstenBrach/SRCI GitHub Wiki

RobotTask

0

No function code

ReadActualPositionCyclic

1

Read the actual position cyclically

WriteCallSubprogramCyclic

2

Writes cyclic data of called subprogram

ReadCallSubprogramCyclic

3

Reads cyclic data of called subprogram

EnableRobot

1000

Enable/Disable robot into RA power state "Enabled"

GroupReset

1001

Acknowledgement all pending errors

SetOperationMode

1003

Switch operation mode of RC (Automatic External, T1 External, T2 External)

SetSequence

1004

Set active sequence

SwitchLanguage

1005

Switch language of robot teach pendant from PLC

UserLogin

1006

Login on RC from PLC

RestartController

1101

Restart/reboot of the RC

ChangeSpeedOverride

2000

Change actual speed override

GroupContinue

2001

Continue interrupted path

GroupInterrupt

2002

Interrupt active movement, possible to continue movement

GroupStop

2003

Abort actual movement and delete buffer

GroupJog

2100

Jog robot manually

MoveAxesAbsolute

2101

Move all joints to an absolute joint position (Absolute Joint PTP)

MoveDirectAbsolute

2102

Move Joints to an absolute cartesian position (Absolute cartesian PTP)

MoveLinearAbsolute

2103

Move the TCP to an absolute cartesian position (linear interpolation)

ReturnToPrimary

2104

Return to path left during active interrupt

MoveAxesRelative

2105

Move all joints relative to actual joint position (Relative Joint PTP)

MoveCircularRelative

2106

Move the TCP relative to the actual cartesian position (circular interpolation)

MoveDirectRelative

2108

Move Joints relative to relative cartesian position (Relative cartesian PTP)

MoveCircularAbsolute

2109

Move the TCP to an absolute joint position (linear interpolation)

MoveLinearRelative

2110

Move the TCP relative to the actual cartesian position (linear interpolation)

MoveDirectOffset

2111

Move the TCP relative to a reference cartesian position (PTP interpolation)

MoveLinearOffset

2112

Move the TCP relative to a reference cartesian position (linear interpolation)

MoveApproachDirect

2200

Direct Move to target position through auxiliary position defined by offset in all dimensions

MoveApproachLinear

2201

Linear Move to target position through auxiliary position defined by offset in all dimensions

MoveDepartDirect

2202

Direct Move from actual position to destination through auxiliary position defined by offset in all dimensions

MoveDepartLinear

2203

Linear Move from actual position to destination through auxiliary position defined by offset in all dimensions

MovePickPlaceDirect

2204

Commands interpolated movement of robot arm on a partly undefined path from actual position

MovePickPlaceLinear

2205

Command several interpolated movement of robot arm on linear paths from actual position

ActivateConveyorTracking

2300

Activate conveyor tracking mode

ConfigureConveyor

2301

Configure conveyor parameters

RedefineTrackingPos

2302

Redefine tracking position for conveyor tracking

SyncToConveyor

2303

Synchronize robot with conveyor

MoveCircularCam

2400

Set a trigger in a defined position of a circular path

MoveDirectCam

2401

Set a trigger in a defined position of a path. (PTP)

MoveLinearCam

2402

Set trigger in defined position of path (L = Linear Path) (cartesian)

SearchHardstop

2500

Move robot into contact with obstruction (mechanical Limit) and hold it in this position

SearchHardstopJ

2501

Move robot into contact with obstruction (mechanical Limit) and hold it in this position

MoveSuperImposed

2502

Activate superimposed motion of TCP to defined motion

MoveSuperImposedDynamic

2503

Activate superimposed motion of TCP to defined motion

CreateSpline

2600

Create spline on RC from positions stored in PLC

DeleteSpline

2601

Delete spline previously created on RC

DynamicSpline

2602

Create and move spline on RC simultaneously

MoveSpline

2603

Move spline previously created on RC

ReactAtTrigger

3000

"Action" that initiates specified events when triggered

SetTriggerError

3001

Trigger "Actions" based on incoming error event

SetTriggerLimit

3002

Trigger "Actions" based on physical events (e.g. force limit reached)

SetTriggerMotion

3003

Trigger an action based on a motion-related parameter

SetTriggerRegister

3004

Trigger "Actions" based on I/O related events (e.g. change of DI’s state)

SetTriggerUser

3005

Trigger "Actions" based on physical events (e.g. force limit reached)

WaitForTrigger

3006

Wait to process next command in sequence until trigger signal is received

ReadActualPosition

5100

Read the actual position – TCP: X…RZ + config/Turn, Joint: (J1…E6)

ReadDHParameter

5101

Read D-H-parameters of robot

ReadFrameData

5102

Read ontent of selected user frame number

ReadLoadData

5103

Read content of selected payload number

ReadRobotDefaultDynamics

5104

Read default values of dynamic parameters used by move commands

ReadRobotReferenceDynamics

5105

Read reference values of robot dynamics for path movement

ReadRobotSWLimits

5106

Read actual software limits of the axes Positive and negative Limit of Joint J1…J6, E1…E6

ReadToolData

5107

Read content of selected tool number

ReadSystemVariable

5109

Read specific parameter of the robot

ReadActualForce

5110

Read actual force/torque at TCP

ReadActualTCPVelocity

5111

Read actual TCP velocity

WriteFrameData

5200

Change configuration of selected user frame number

WriteLoadData

5201

Change configuration of selected payload number

WriteRobotDefaultDynamics

5202

Write default values of dynamic parameters used by move commands

WriteRobotReferenceDynamics

5203

Write reference values of robot dynamics for path movement

WriteRobotSWLimits

5204

Change robot limits of robot axes (degree)

WriteToolData

5205

Change configuration of selected tool number

WriteSystemVariable

5206

Change value of specific vendor parameter

AbortMeasuringInput

6000

Abort triggering of Position, measuring input

MeasuringInput

6001

Capture trigger Position, measuring input

ReadDigitalInputs

6100

Read digital input and output group of RC

ReadDigitalOutputs

6101

Read digital output group of RC

ReadIntegers

6102

Read integer values on RC

ReadReals

6103

Read real values on RC

WriteDigitalOutputs

6104

Write digital output group of RC

WriteIntegers

6105

Write integer values on RC

WriteReals

6106

Write real values on RC

ReadAnalogInput

6107

Read analog input of RC

ReadAnalogOutput

6108

Read analog output of RC

WriteAnalogOutput

6109

Write analog output of RC

ActivateNextCommand

7000

Cancel currently active move command and continue with the next buffered command

CallSubprogram

7001

Call subprogram stored in RC from PLC

FreeDrive

7002

Move the robot axes by hand

CollisionDetection

7003

Turn on/off the collision detection

UnitMeasurement

7004

Measure the length of objects in the cartesian space

WaitTime

7005

Set wait command between motion commands

LoadMeasurementAutomatic

7006

Automatic detection of load data

LoadMeasurementSequential

7007

Sequential detection of load data

StopSubprogram

7008

Stops an active subprogram

OpenBrake

7100

Release robot arm’s brakes

BrakeTest

7101

Activate robot cycle brake test and give feedback to PLC

CalculateCartesianPosition

7200

Calculate cartesian position from existing cartesian position

CalculateFrame

7201

Calculate frame with three-point method

CalculateTool

7202

Calculate tool (TCP) with four-point method

CalculateForwardKinematic

7203

Calculate Forward Kinematic

CalculateInverseKinematic

7204

Calculate Inverse Kinematic

ShiftPosition

7205

Transform a defined position in space

SoftSwitchTCP

7300

Push robot: Robot calculates opposite vector and moves slowly in that direction

ForceControl

7301

Enables the RC to apply user-defined force/torque through RA’s TCP movement

ForceLimit

7302

Commands specified reaction from RA when defined force/torque detected

AvoidSingularity

7400

Activate/Deactivate functionality to avoid singularities

PathAccuracyMode

7401

Switch path mode between high and low accuracy

ActivateWorkArea

7500

Enable/Disable work areas of RC and check if TCP is inside/outside of active work area

MonitorWorkArea

7501

Monitor enabled work areas

ReadWorkArea

7502

Read configuration of defined work areas

WriteWorkArea

7503

Define work area

ExchangeConfiguration

9000

Reads and writes specific configuration parameters on RC

ReadMessages

9001

Read error codes of pending errors and move them into user data block "RobotData"

ReadRobotData

9002

Read robot-specific data from the RC