OpMode Diagrams

General

White States are transition states.

For example, during the execution of a command already sent.

Dependent on the execution time, it can be possible that these states do not appear in the monitoring.

Gray States are final states.

For example, a sent command is executed successfully.

The module is waiting for a next command to be sent.

General OpMode diagram

Specific OpMode diagrams

OpMode BrakeRelease

White States are transition states.

For example, a sent command is being executed.

Dependent on the execution time, it can be possible that these states do not appear in the monitoring.

Gray States are final states.

For example, a sent command is executed successfully.

The module is waiting for a next command to be sent.

NOTE: The command ET_Cmd.Abort can be sent at any time and in every state.

ET_Cmd.Abort leads to the state ET_State.BrakeExit.

Stop behavior

The commands with the target state ET_State.BrakeExit engages the released brakes.

OpMode Homing

White States are transition states.

For example, a sent command is being executed.

Dependent on the execution time, it can be possible that these states do not appear in the monitoring.

Gray States are final states.

For example, a sent command is executed successfully.

The module is waiting for a next command to be sent.

NOTE: The command ET_Cmd.Abort can be sent at any time and in every state.

ET_Cmd.Abort leads to the state ET_State.HomingExit.

Stop behavior

ET_Cmd.Abort - An active homing motion is stopped with a ControllerStop.

All other commands with the target state ET_State.HomingExit can be send only if no homing is active.

OpMode Manual

White States are transition states.

For example, a sent command is being executed.

Dependent on the execution time, it can be possible that these states do not appear in the monitoring.

Gray States are final states.

For example, a sent command is executed successfully.

The module is waiting for a next command to be sent.

NOTE: The command ET_Cmd.Abort can be sent at any time and in every state.

ET_Cmd.Abort leads to the state ET_State.ManualExit.

Stop behavior

ET_State.ManualAxisExecuting

Stop behavior in case of state ET_State.ManualAxisExecuting is active:

  • ET_Cmd.Stop - The active motion is stopped with the configured manual parameters for axes jogging.

  • Other commands with the target state ET_State.ManualExit lead to a ControllerStop of the active motion.

ET_State.ManualPathExecuting

Stop behavior in case of state ET_State.ManualPathExecuting is active:

  • ET_Cmd.Stop - The active motion is stopped with the configured manual parameters for path jogging set by IF_Manual.SetParameter for ROB.ET_RobotComponent.Path.

  • Other commands with the target state ET_State.ManualExit lead to a stop-on-path with the configured emergency stop parameters set by IF_Configuration.SetEmergencyParameter of the active motion.

ET_State.ManualAuxAxExecuting or ET_State.ManualCartesianExecuting or ET_State.ManualOrientationExecuting

Stop behavior in case of state ET_State.ManualAuxAxExecuting or ET_State.ManualCartesianExecuting or ET_State.ManualOrientationExecuting is active:

TPL.ET_Reaction.AsyncStop

Drives are disabled by the module. The configured ControllerEnableStopMode (drive parameter) is used for stopping.

TPL.ET_Reaction.SyncStopEL

The robot movement is stopped by using the emergency parameters set by:

  • IF_Configuration.SetEmergencyParameters(…)

  • IF_Configuration.SetEmergencyParameters2(…)

An active tracking is stopped with the parameter set by:

When the robot movement is stopped, the drives are disabled.

TPL.ET_Reaction.SyncStopEH

The robot movement is stopped by using the emergency parameters set by:

  • IF_Configuration.SetEmergencyParameters(…)

  • IF_Configuration.SetEmergencyParameters2(…)

An active tracking is stopped with the parameter set by:

When the robot movement is stopped, the drives are NOT disabled.

TPL.ET_Reaction.StopEndOfCycle

The robot movement is stopped by using the motion parameters set by:

  • IF_Manual.SetParameter(…)

  • IF_Manual.SetMaxDeceleration(…)

  • IF_Manual.SetRamp(…)

After the robot jogging movement has stopped, an active tracking is stopped with the parameter set by:

OpMode Auto

White States are transition states.

For example, a sent command is being executed.

Dependent on the execution time, it can be possible that these states do not appear in the monitoring.

Gray States are final states.

For example, a sent command is executed successfully.

The module is waiting for a next command to be sent.

NOTE: The command ET_Cmd.Abort can be sent at any time and in every state.

ET_Cmd.Abort leads to the state ET_State.AutoExit.

Stop behavior

ET_State.AutoRunning

Stop behavior in case of state ET_State.AutoRunning is active and the robot is in motion:

TPL.ET_Reaction.AsyncStop

Drives are disabled by the module. The configured ControllerEnableStopMode (drive parameter) is used for stopping.

TPL.ET_Reaction.SyncStopEL

The robot movement is stopped by using the emergency parameters set by:

  • IF_Configuration.SetEmergencyParameters(…)

  • IF_Configuration.SetEmergencyParameters2(…)

An active tracking is stopped with the parameter set by:

When the robot movement is stopped, the drives are disabled.

TPL.ET_Reaction.SyncStopEH

The robot movement is stopped by using the emergency parameters set by:

  • IF_Configuration.SetEmergencyParameters(…)

  • IF_Configuration.SetEmergencyParameters2(…)

An active tracking is stopped with the parameter set by:

When the robot movement is stopped, the drives are NOT disabled.

TPL.ET_Reaction.StopEndOfCycle

The robot path movement is stopped by using the motion parameters set by:

After the robot path movement has stopped, an active tracking is stopped with the parameter set by: