Structures UserData - ThorstenBrach/SRCI GitHub Wiki
| Parameter | Data Type | Default Value | Description |
|---|---|---|---|
EnableSync |
- |
state of the synchronizationrelated comparison mechanism |
|
ActivateTwoSequences |
- |
Set TRUE to define two sequences in one Telegram. |
|
SynchronizationModes |
- |
Synchronisation modes |
|
DelayTime |
- |
Defines waiting time [ms] between receiving first move command and starting movement. |
|
WaitForNrOfCmd |
- |
Define number of points required to calculate the blending. |
|
WaitAtBlendingZone |
- |
Defines blending behavior for single move commands |
|
AllowSecSeqWhileSubprogram |
- |
Allow a sequence switch from primary to secondary while a subprogram called via CallSubprogram |
|
AllowDynamicBlending |
- |
Allows blending when CallSubprogram is used and removed |
|
LifeSignTimeOut |
TIME |
- |
Maximum allowed time [ms] between LifeSign increments |
SyncReaction |
- |
System reaction when inconsistency of sync data is detected |
|
SyncDelay |
- |
Delay [ms] between detecting config inconsistency and applying SyncReaction |
|
LogLevel |
- |
Severity level of messages stored in RC log |
|
MessageLevel |
- |
Severity level of messages sent to PLC message buffer |
|
PLCLibraryVersion |
- |
Version of client implementation in format (X.X.X) |
|
RCManufacturer |
- |
RC manufacturer name |
|
RCOrderID |
- |
RC part number |
|
RCSerialNumber |
- |
RC serial number |
|
RASerialNumber |
- |
RA serial number |
|
RCFirmwareVersion |
- |
Robot firmware version in manufacturer-specific format |
|
RCInterpreterVersion |
- |
Version of server implementation in format (X.X.X) |
|
RCSRCIVersion |
- |
Version of SRCI specification on which server implementation is based in format (X.X.X) |
|
AxisJointUsed |
- |
TRUE = Axis used in Robot, FALSE = Axis NOT used. |
|
AxisExternalUsed |
- |
TRUE = Axis used by Robot, FALSE = Axis NOT used. |
|
AxisJointUnit |
- |
TRUE = mm, FALSE = °. |
|
AxisExternalUnit |
- |
TRUE = mm, FALSE = °. |
|
Initialized |
- |
Interface is initialized and ready to process commands. |
|
Synchronized |
- |
All synchronization-related configuration data between client and server is synchronized. |
|
ToolDataSynchronizing |
- |
ToolData synchronization is activated. |
|
FrameDataSynchronizing |
- |
FrameData synchronization is activated. |
|
LoadDataSynchronizing |
- |
LoadData synchronization is activated. |
|
WorkAreaDataSynchronizing |
- |
WorkAreaData synchronization is activated. |
|
SWLimitsSynchronizing |
- |
SWLimits synchronization is activated. |
|
DefaultDynamicsSynchronizing |
- |
DefaultDynamics synchronization is activated. |
|
ReferenceDynamicsSynchronizing |
- |
ReferenceDynamics synchronization is activated. |
|
IsMoving |
- |
TRUE, when robot’s axes values change due to physical movement of axes. Can only be TRUE in sequence state "Executing". |
|
PrimarySequencePaused |
- |
TRUE, when move commands buffered by the primary sequence are currently not processed. |
|
InPrimaryPos |
- |
TRUE, when robot is moving in the primary sequence. FALSE, when it moves otherwise. |
|
SecondarySequenceActive |
- |
TRUE, when secondary sequence is active. |
|
ErrorPending |
- |
Shows that an error acknowledgement by the client is necessary. |
|
RestartInProgress |
- |
TRUE, when RC is restarting. |
|
BrakeTestRequired |
- |
Signals that a brake test is required in the defined monitoring time |
|
Enabled |
- |
RA power state. |
|
Idle |
- |
TRUE, while RA sequence state returns Idle. |
|
Executing |
- |
TRUE, while RA sequence state returns Executing. |
|
Interrupted |
- |
TRUE, while RA sequence state returns Interrupted. |
|
IsBlending |
- |
TRUE, when robot is blending between move commands (only in Executing). |
|
OperationMode |
- |
Operation Mode |
|
PathAccuracyMode |
- |
PathAccuracyMode is active |
|
AvoidSingularity |
- |
AvoidSingularity is active |
|
CollisionDetectionEnabled |
- |
TRUE, while CollisionDetection is enabled |
|
CollisionDetected |
- |
TRUE, when collision was detected while CollisionDetection was active |
|
RestartRequested |
- |
TRUE, when RC requests restart due to specific function calls (e.g., WriteRobotSWLimits) |
|
ActualOverride |
- |
Actual override |
|
StepModeExactStopActive |
- |
StepMode is active and set to ExactStop |
|
StepModeBlendingActive |
- |
StepMode is active and set to Blending |
|
AcceleratingSupported |
- |
Accelerating status bit is supported |
|
Accelerating |
- |
TRUE, when robot is currently accelerating |
|
DeceleratingSupported |
- |
Decelerating status bit is supported |
|
Decelerating |
- |
TRUE, when robot is currently decelerating |
|
ConstantVelocitySupported |
- |
ConstantVelocity status bit is supported |
|
ConstantVelocity |
- |
TRUE, while the robot velocity is constant |
|
ReadingCartesianPosition |
- |
TRUE, while the CartesianPosition is returned cyclically |
|
ReadingExtCartesianPosition |
- |
TRUE, while the ExtCartesianPosition is returned cyclically |
|
ReadingJointPosition |
- |
TRUE, while the JointPosition is returned cyclically |
|
ReadingExtJointPosition |
- |
TRUE, while the ExtJointPosition is returned cyclically |
|
CartesianPosition |
- |
Cyclically returned, absolute coordinates of current position in selected coordinate systems (see input parameters ToolNo and FrameNo of function ReadActualPositionCyclic 6.1.6) |
|
ExtCartesianPosition |
- |
Cyclically returned, absolute cartesian position of the external axes of the robot in selected coordinate systems (see input parameters ToolNo and FrameNo of function ReadActualPositionCyclic 6.1.6) |
|
JointPosition |
- |
Cyclically returned, absolute position of the robot in Joint position |
|
ExtJointPosition |
- |
Cyclically returned, absolute joint position of the external axes of the robot |
|
RCSupportedFunctions |
- |
TRUE: Function is supported by RC, FALSE: Function is not supported by RC |