Structures AxesGroupParameterRobParameter - ThorstenBrach/SRCI GitHub Wiki

RobotName

STRING(20)

-

User defined robot name

LengthACR

UINT

50

Returns a metric of how many CMDs it can manage simultaneously.
Must be >3, interface init uses at least 3 commands.
After ReadRobotData, the correct ARC length is returned.

HighestToolIndex

USINT

-

Highest index of available tools on the RC

HighestFrameIndex

USINT

-

Highest index of available frames on the RC

HighestLoadIndex

USINT

-

Highest index of available loads on the RC

HighestWorkAreaIndex

USINT

-

Highest index of available work areas on the RC

DataInSync

DataInSync

-

Data which are synchronized

ChangeIndexTool

USINT

-

Index of tool changed on RC

ChangeIndexFrame

USINT

-

Index of frame changed on RC

ChangeIndexLoad

USINT

-

Index of load changed on RC

ChangeIndexWorkArea

USINT

-

Index of work area changed on RC

RAWorkingHours

USINT

-

Working hours of an RA connected to the RC

BrakeTestRequired

BOOL

-

Brake test required in defined monitoring time

StepModeExactStopActive

BOOL

-

StepMode active and set to ExactStop

StepModeBlendingActive

BOOL

-

StepMode active and set to Blending

PathAccuracyMode

BOOL

-

PathAccuracyMode is active

AvoidSingularity

BOOL

-

AvoidSingularity is active

CollisionDetectionEnabled

BOOL

-

CollisionDetection is active

AcceleratingSupported

BOOL

-

Accelerating supported (cyclic dynamics bit)

DecceleratingSupported

BOOL

-

Decelerating supported (cyclic dynamics bit)

ConstantVelocitySupported

BOOL

-

ConstantVelocity supported (cyclic dynamics bit)

RCWorkingHours

UDINT

-

Total system hours of RA connected to RC
• 0: Invalid
• >1: Total system hours