Structures AxesGroupCyclicPlcToRob - ThorstenBrach/SRCI GitHub Wiki

SRCIVersion

VersionStruct

-

Version of SRCI specification
- Bit 0–4: Minor version (features 0–31)
- Bit 5–7: Major version (breaking changes 0–7)

FastStop

BYTE

-

Fast stop trigger

LifeSign

BYTE

-

Connection alive signal

TelegramLengthPlcToRob

UINT

-

Frame length (bytes) used for telegram – client to server

TelegramLengthRobToPlc

UINT

-

Frame length (bytes) used for telegram – server to client

AxesGroupID

BYTE

-

Control AxesGroupID telegram state control

Control

ControlHalfByte

-

Telegram state control

Reserved

BYTE

-

Reserved for future versions

TelegramNumberPlcToRob

UINT

-

Optional cyclic telegram number – client to server

TelegramNumberRobToPlc

UINT

-

Optional cyclic telegram number – server to client

ClientDate

IEC_DATE

-

Client date in days since 1990-01-01

ClientTime

IEC_TIME

-

Client time in ms since start of day

ToolNo

INT

-

Index of tool of returned position
- -1: Currently used tool on RC
- 0: Flange (default)
- 1..254: Tool frames

FrameNo

INT

-

Index of frame of returned position
- -1: Currently used frame on RC
- 0: WCS (default)
- 1..254: User frames