Introduction ProfileOptional - ThorstenBrach/SRCI GitHub Wiki
| Function | Description | M/O |
|---|---|---|
Read DH parameters of robot |
O |
|
Restart/reboot of the RC |
O |
|
Read actual TCP velocity |
O |
|
Login on RC from PLC |
O |
|
Switch language of robot teach pendant from PLC |
O |
|
Change robot limits of robot axes (degree) |
O |
|
Switch operation mode of RC (Automatic External, T1 External, T2 External) |
O |
|
Read configuration of defined work areas |
O |
|
Write configuration to Define work area |
O |
|
Enable/Disable work areas of RC and check if TCP is inside/outside of active work area |
O |
|
Monitor enabled work areas |
O |
|
Linear Move to target position through auxiliary position defined by offset in all dimensions (movement to target position linear) |
O |
|
Linear Move from actual position to destination through auxiliary position defined by offset in all dimensions (movement to target position linear) |
O |
|
Direct Move to target position through auxiliary position defined by offset in all dimensions (movement to target position PTP) |
O |
|
Direct Move from actual position to destination through auxiliary position defined by offset in all dimensions (movement to the target position PTP) |
O |
|
Move robot into contact with obstruction (mechanical Limit) and hold it in this position |
O |
|
Move robot into contact with obstruction (mechanical Limit) and hold it in this position |
O |
|
Command several interpolated movement of robot arm on linear paths from actual position |
O |
|
Commands interpolated movement of robot arm on a partly undefined path from actual position |
O |
|
Activate conveyor tracking mode |
O |
|
Redefine tracking position for conveyor tracking |
O |
|
Synchronize robot with conveyor |
O |
|
Configure conveyor parameters |
O |
|
Activate superimposed motion of TCP to defined motion |
O |
|
Activate superimposed motion of TCP to defined motion |
O |
|
Read analog input of RC |
O |
|
Read analog output of RC |
O |
|
Write analog output of RC |
O |
|
Capture trigger Position, measuring input |
O |
|
Abort triggering of Position, measuring input |
O |
|
Trigger an action based on a motion related parameter (e.g. progress of trajectory) |
O |
|
Release robot arm’s brakes |
O |
|
Call subprogram stored in RC from PLC |
O |
|
Switch path mode between high and low accuracy |
O |
|
Activate/Deactivate functionality to avoid singularities |
O |
|
Enables the RC to apply user defined force/ torque through RA’s TCP movement |
O |
|
Commands specified reaction from RA when defined force/torque detected |
O |
|
Read actual force/torque at TCP |
O |
|
Activate robot cycle brake test and give feedback to PLC |
O |
|
Push robot: Robot calculates opposite vector and moves slowly in that direction |
O |
|
Create spline on RC from positions stored in PLC |
O |
|
Delete spline previously created on RC |
O |
|
Move spline previously created on RC |
O |
|
Create and move spline on RC simultaneously |
O |
|
Automatic detection of load data |
O |
|
Sequential detection of load data |
O |
|
Turn on/off the collision detection |
O |
|
Move the robot axes by hand |
O |
|
Measure the length of objects in the cartesian space, execution time for specified section of a job or signal output time of a specified signal |
O |