oFB_Robot.xEnable = FALSE

Robot is not active.

No move commands can be sent.

The feedback property lrRemainingTime returns the value 0.

o FB_Robot.xEnable is set to TRUE.

Robot is active and ready.

o FB_Robot.xStart = FALSE

In case a move command (with blending zone) is sent to the robot, the robot does not move because FB_Robot.xStart is FALSE.

The feedback property lrRemainingTime returns the estimated time until the end of the connected path.

For move commands, which extend the connected path, the value of lrRemainingTime is increased.

oFB_Robot.xEnable is set to TRUE

Robot is active and ready.

oFB_Robot.xStart = FALSE

oMove commands were sent.

oFB_Robot.xStart is set from FALSE to TRUE.

The robot moves immediately.

During the robot movement, the feedback property lrRemainingTime returns the time until the robot arrives at the end of the connected path.

oFB_Robot.xEnable is set to TRUE.

Robot is active and ready.

oMove commands were sent.

oFB_Robot.xStart is set from FALSE to TRUE

The robot is moving.

If a move command is sent while the robot is moving, the feedback property lrRemainingTime is increased according to the new movement.

oFB_Robot.xEnable is set to TRUE.

Robot is active and ready.

oFB_Robot.xStart is set from FALSE to TRUE.

oMove command is sent.

The robot moves immediately.

If FB_Robot.xStart is set to FALSE while move commands are executed, the robot comes to a stop-on-path.

The feedback property lrRemainingTime returns the remaining time until the end of the connected path if FB_Robot.xStart is reset to TRUE.

oFB_Robot.xEnable is set to TRUE.

Robot is active and ready.

oFB_Robot.xStart is set from FALSE to TRUE.

oMove command is sent.

The robot moves immediately.

If FB_Robot.xEnable is set to FALSE during move commands are being executed, the robot does a fast deceleration as configured in response to an emergency stop.

The feedback property lrRemainingTime returns the remaining time until the end of the connected path if FB_Robot.xEnable is set to TRUE again and a WarmStart is done to continue the robot movement on the connected path.

The value of the feedback property lrRemainingTime is valid as long as the robot is active. If the robot is not active, the value is set to 0.

If the robot is re-enabled after a rising edge on FB_Robot.xEnable (TRUE -> FALSE -> TRUE), the feedback property lrRemainingTime returns the remaining time until the end of the connected path if a WarmStart is performed and FB_Robot.xStart is set to TRUE again.

oFB_Robot.xEnable set to TRUE.

Robot is active and ready.

oFB_Robot.xStart is set from FALSE to TRUE.

oMove commands are sent.

The robot moves immediately.

If a move command is cleared by calling the method IF_RobotMotion.ClearSegmentsFromId while move commands are being executed, the feedback property lrRemainingTime returns the remaining time until the end of the connected path.

oFB_Robot.xEnable set from TRUE to FALSE.

Robot is inactive and not ready.

oFB_Robot.xEnable set from FALSE to TRUE.

Robot is active and ready.

oFB_Robot.xStart is set from FALSE to TRUE.

If a ColdStart is performed after re-enabling the robot, the value of the feedback property lrRemainingTime is set to 0 until another move command is sent.

If in the interim between FB_Robot.xEnable is set to TRUE and FB_Robot.xStart is set to TRUE, the feedback property lrRemainingTime returns the time until the end of an existing connected path.

If no connected path exists, 0 is returned.

oFB_Robot.xEnable set from FALSE to TRUE.

Robot is active and ready.

oFB_Robot.xWsSelect set from FALSE to TRUE.

Warm start motion is pre-selected.

oFB_Robot.xWsStart set from FALSE to TRUE.

The robot moves to the last detected path position.

If a WarmStart is performed after re-enabling the robot, the value of the feedback property lrRemainingTime stays at its value until the warm start movement is finished and FB_Robot.xStart is set from FALSE to TRUE or other move commands are sent.

oIF_RobotMotion.lrVelOverride is set to 0 before a move command is sent (see IF_RobotMotion.lrVelOverride).

The value of the feedback property lrRemainingTime stays 0 even if a move command is sent.

oFB_Robot.xStart = FALSE

oIF_RobotMotion.lrVelOverride = 0 before a move command is sent (see IF_RobotMotion.lrVelOverride).

The value of the feedback property lrRemainingTime stays 0 even if a move command is sent.

If the value of IF_RobotMotion.lrVelOverride gets unequal 0 afterwards, the robot does not move because of FB_Robot.xStart = FALSE, but the lrRemainingTime returns the time until the end of the connected path in case of FB_Robot.xStart is set to TRUE.

If the value of IF_RobotMotion.lrVelOverride is set back to 0, the lrRemainingTime keeps the value when IF_RobotMotion.lrVelOverride was set back to 0.

oIF_RobotMotion. lrVelOverride gets 0 during a movement on path (not jogging on path) is active.

The lrRemainingTime returns the time until the end of the connected path in case the end of the connected path is going to be reached.

Otherwise the value of lrRemainingTime freezes until the value of IF_RobotMotion.lrVelOverride gets > 0.

oFB_Robot.xStart = FALSE

For jogging along the connected path, FB_Robot.xStart has to be FALSE.

oFB_Robot.xStart = FALSE

oJogging mode is activated.

If a jogging along the connected path was triggered, the lrRemainingTime is calculated on jogging motion parameters set by a call of corresponding methods of IF_RobotJogging.

If FB_Robot.xStart is set to TRUE to continue the path movement, the lrRemainingTime is calculated again on motion parameters, set by a call of corresponding methods of IF_RobotMotion.

If a jogging along the connected path is active, the feedback property lrRemainingTime returns the estimated time until the end of the connected path assuming that the jogging movement would otherwise reach the end of the connected path.

To display whether the calculation is motion-based or jogging-based, use the feedback property etActiveMovementMode of IF_RobotFeedbackConnectedPath.