SR_<Robot P-Series Name> - General Information

Program

V1.1.2.0

Standard module interface (see ST_StandardModuleInterface).

Exception List (see ST_ExceptionList).

Log Data List (see ST_LogDataList).

Robot feedback interface (see IF_RobotFeedback).

A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU.

A deactivated POU does not execute any action.

Initiate an immediate asynchronous stop. The process can no longer be accessed while the exception is pending. No commands can be executed while the reaction is pending. You may still execute certain special operating modes and commands required for exception elimination.

Initiate a synchronous stop (monitored by a timeout = waits until the robot path movement stops). Deactivates the process after the synchronous stop has been completed. The process can no longer be accessed while the exception is pending. If the timeout (configurable) is triggered, the function transitions to an asynchronous stop.

Initiate a synchronous stop (monitored by a timeout = waits until the robot path movement stops). Does NOT disable process after completion of the synchronous stop.

Initiate a stop at the end of the cycle. Does NOT deactivate the process.

A rising edge FALSE -> TRUE cancels an active exception of the POU.

TRUE: The POU is active. If the output is TRUE while the i_xEnable is deactivated, the POU must first terminate its ongoing processing before transitioning this output to FALSE.

FALSE: The POU is inactive

TRUE: The POU is ready to operate and can accept user commands.

FALSE: The function block is not ready to accept user commands.

General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.

POU-specific output on the diagnostic.

q_etDiag = GD.ET_Diag.Ok -> Status message

q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message

The name of the respective enumeration of q_udiDiagExt as Description.

Event-triggered message that gives more detailed information on the diagnostic state.

An error was detected and an exception is active.

An advisory is active.

The active operating mode of the Smart Template robot module.

A command is active.

The active command of the Smart Template robot module.

A command is terminated successfully.

An immediate asynchronous stop is active. The process can no longer be accessed while the exception is pending. No commands can be executed while the reaction is pending. You may still execute certain special operating modes and commands required for exception elimination.

A synchronous stop (monitored by a timeout = waits until the robot path movement stops) is active. Deactivates the process after the synchronous stop has been completed. The process can no longer be accessed while the exception is pending. If the timeout (configurable) is triggered, the function transitions to an asynchronous stop.

A synchronous stop (monitored by a timeout = waits until the robot path movement stops) is active. Does NOT disable process after completion of the synchronous stop.

A stop at the end of the cycle is active. Does NOT deactivate the process.

Robot feedback interface (see IF_RobotFeedback).

Transfer a module command to the module.

RoboticModule specific parameters (see ST_ModuleInterface).

TRUE: Disable the verification of target, circular, and spline points when sending move commands to the robot.

Default value: FALSE

In case of xDisableWorkEnvelopeMoveCmds activated and the robot is outside the work envelope, the robot accepts the move commands and returns ET_Diag = Ok. The robot starts the movement but will immediately stop.

Execute the calibration for a Lexium P Robot.

Configure additional features (for example tracking).

Logic for the Lexium P Robot (for example motion logic).

Register the Smart Template Robot P-Series Module to the Application Logger.

Set parameter to influence the control loop of the Lexium P Robot axes.

Read the parameter which influences the control loop of the Lexium P Robot axes.

Read kinematic parameter for a Lexium P Robot.

Set kinematic parameter for a Lexium P Robot.

Set/overwrite a parameter for a Lexium P Robot.

Read the configuration data for the OPC/UA data structure of the Lexium P Robot.