Structures AxesGroupState - ThorstenBrach/SRCI GitHub Wiki
| Parameter | Data Type | Default Value | Description |
|---|---|---|---|
FatalErrorClient |
- |
Client reports a fatal error |
|
Synchronized |
- |
PLC and RC are synchronized |
|
Synchronizing |
- |
Synchronizing is running |
|
AliveOk |
- |
Data exchange is running (Liftebit toggles) |
|
CMDsEnabled |
- |
Bit that indicates that it is possible to execute commands |
|
ConfigExchanged |
- |
Configuration is exchanged |
|
UnifiedToolIndex |
- |
Highest available tool index of RC and PLC in combination |
|
UnifiedFrameIndex |
- |
Highest available frame index of RC and PLC in combination |
|
UnifiedLoadIndex |
- |
Highest available load index of RC and PLC in combination |
|
UnifiedWorkAreaIndex |
- |
Highest available work area index of RC and PLC in combination |
|
DataEnableSync |
- |
Enable data to synchronize |
|
DataChanged |
- |
Flags indicating which element has changed |
|
SyncStatePlc |
- |
Synchronization state of the PLC |
|
SyncStateRc |
- |
Synchronization state of the RC |
|
SystemTime |
- |
Current system time |
|
RobotData |
ReadRobotDataOutCmd |
- |
Read robot data |
ConfigurationData |
ExchangeConfigurationOutCmd |
- |
Read configuration data |
Initialized |
- |
Robot is initialized |
|
OnlineChange |
- |
Online change detected |
|
OnlineChange_R |
R_TRIG |
- |
Rising edge for online change detected |
OnlineChange_F |
F_TRIG |
- |
Falling edge for online change detected |
GroupReset |
- |
GroupReset active |
|
GroupReset_R |
R_TRIG |
- |
Rising edge for GroupReset |
GroupReset_F |
F_TRIG |
- |
Falling edge for GroupReset |
SequenceCountSend |
DINT |
- |
Counter of sequences to send |
SequenceCountRecv |
DINT |
- |
Counter of sequences received |
FragmentCountSend |
ARRAY[0..1] OF DINT |
- |
Counter of fragments to send |
FragmentCountRecv |
ARRAY[0..1] OF DINT |
- |
Counter of fragments received |
CurrentSEQ |
ARRAY[0..1] OF UINT |
- |
Current sequence ID |
CurrentACK |
ARRAY[0..1] OF UINT |
- |
Current acknowledge ID |
NewSEQ |
ARRAY[0..1] OF BOOL |
- |
Current SEQ has changed → send new data |
LastACK |
ARRAY[0..1] OF UINT |
- |
Last received acknowledge ID |