ST_FeedbackData

Overview

Type:	Structure
Available as of:	V1.0.1.0
Inherits from:	-

Description

This structure contains feedback data which can be retrieved from the Lexium Cobot.

Structure Elements

Name	Data type	Description
etMode	ET_Mode	Mode in which the Lexium Cobot is running.
etProgramState	ET_ProgramState	State of the executed program.
stCartesianPose	GEM.ST_CartesianPose	Cartesian pose of the Lexium Cobot TCP.
stInputsOutputs	ST_InputsOutputs	State and value of the analog and digital inputs and outputs of the Lexium Cobot.
stLogData	ST_LogData	Error, warning and status messages retrieved from the Lexium Cobot controller.
stPosition	ST_Joints	Positions of the Lexium Cobot joints.
udiCommandId	UDINT	Identifier of the active move command in case the move command is specified in this library. Identifier of the active program command in case of a running program.
uiCoordinateSystem	UINT	Identifier of the coordinate system in which the Lexium Cobot is moving.
uiSpeedOverride	UINT	Configured speed override for executing a program on the Lexium Cobot controller.
uiTCP	UINT	Identifier of the TCP with which the Lexium Cobot is moving.
xCollisionStop	BOOL	FALSE: The Lexium Cobot is not in collision stop. TRUE: The Lexium Cobot is in collision stop.
xEmergencyStop	BOOL	FALSE: The Lexium Cobot is not in emergency stop. TRUE: The Lexium Cobot is in emergency stop.
xInPosition	BOOL	FALSE: The Lexium Cobot is not in position. TRUE: The Lexium Cobot is in standstill. The Lexium Cobot has reached the jog target. The Lexium Cobot has reached the target pose of a move command specified in this library. The Lexium Cobot is executing a program and has reached the target pose of a move command.
xPoweredOn	BOOL	FALSE: The Lexium Cobot arm is powered off. TRUE: The Lexium Cobot arm is powered on.
xProtectiveStop	BOOL	FALSE: The Lexium Cobot is not in protective stop. TRUE: The Lexium Cobot is in protective stop.
xRobotEnabled	BOOL	FALSE: The Lexium Cobot arm is disabled. TRUE: The Lexium Cobot arm is enabled.
xSoftLimit	BOOL	FALSE: The Lexium Cobot is not in soft limit. TRUE: The Lexium Cobot is in soft limit. One or some of the Lexium Cobot joints have reached their soft limit, which can be configured in the Safety Settings in EcoStruxure Cobot Expert.