Structures RaStatusWord - ThorstenBrach/SRCI GitHub Wiki

IsMoving

BOOL

-

Bit 00: TRUE, when robot’s axes values change due to physical movement of axes

PrimarySequencePaused

BOOL

-

Bit 01: TRUE, when move commands in primary sequence are currently not processed

InPrimaryPos

BOOL

-

Bit 02: TRUE, when robot is in primary sequence
Switches back to TRUE in two scenarios:
1. TCP equals position when primary sequence was left or interrupted
2. Primary sequence is active and new command is buffered
Independent of RA state

SecondarySequenceActive

BOOL

-

Bit 03: Secondary sequence is active (by user or implicit behavior)

IsBlending

BOOL

-

Bit 04: TRUE, when blending between two move commands

ErrorPending

BOOL

-

Bit 05: Shows that an error acknowledgement by the client is necessary

RestartInProgress

BOOL

-

Bit 06: RC is restarting

Enabled

BOOL

-

Bit 07: RA power state

RaSequenceState

RaSequenceState

-

Bit 08–09: RA sequence states: Idle, Interrupt active, Axes controlled

OperationMode

OperationMode

-

Bit 10–12: Operation Mode (T1 Local, T2 Local, Auto, etc.)

CollisionDetectedEnabled

BOOL

-

Bit 13: TRUE, while CollisionDetection is enabled

CollisionDetected

BOOL

-

Bit 14: TRUE, when a collision was detected during CollisionDetection

RestartRequested

BOOL

-

Bit 15: TRUE, when RC requests a restart via WriteRobotSWLimits or WriteSystemVariable

Accelerating

BOOL

-

Bit 16: RA is currently accelerating (if supported via exchangeConfig)

Decelerating

BOOL

-

Bit 17: RA is currently decelerating (if supported via exchangeConfig)

ConstantVelocity

BOOL

-

Bit 18: RA is moving at constant velocity (if supported via exchangeConfig)

Bit19

BOOL

-

Bit 19

Bit20

BOOL

-

Bit 20

Bit21

BOOL

-

Bit 21

Bit22

BOOL

-

Bit 22

Bit23

BOOL

-

Bit 23

Bit24

BOOL

-

Bit 24

Bit25

BOOL

-

Bit 25

Bit26

BOOL

-

Bit 26

Bit27

BOOL

-

Bit 27

Bit28

BOOL

-

Bit 28

Bit29

BOOL

-

Bit 29

Bit30

BOOL

-

Bit 30

Bit31

BOOL

-

Bit 31