Behavior of Feedback Property rstEstimatedStopPosition

General

Use the feedback property rstEstimatedStopPosition to read the estimated Cartesian stop position on the connected path when a stop-on-path (FB_Robot.xStart = FALSE) is triggered.

By default, the calculation of the estimated stop position is based on motion parameters.

With the property xUseEStopParameterForEstimatedStopPosition, the calculation can be switched to emergency parameters.

When ROB.IF_RobotConfigurationAdvanced.xUseEStopParameterForEstimatedStopPosition or RM.IF_RobotConfigurationAdvanced.xUseEStopParameterForEstimatedStopPosition is set to TRUE, the estimated stop position is calculated based on emergency parameters.

In all cases below, the emergency parameters are higher than the motion parameters.

RoboticModule

The explanations are based on the robotic functionality, in case the RoboticModule is used the corresponding actions would be:

FB_Robot.xStart TRUE -> FALSE

-> Use ST_ModuleInterface.i_xRobotStart

FB_Robot.xEnable TRUE -> FALSE

-> Send an exception with reaction SyncStopEL, SyncStopEH or use the software limits.

Stop Movements and Positions

	Cartesian stop movement on the connected path with emergency parameters (FB_Robot.xEnable TRUE -> FALSE)
	Cartesian stop movement on the connected path with motion parameters (FB_Robot.xStart TRUE -> FALSE)
	Cartesian stop movement because of tracking with tracking parameters (ifFeedback.ifTracking.rstEstimatedStopPosition)
	Resulting Cartesian stop movement (connected path + tracking)
	Cartesian stop position on the connected path (ifFeedback.ifTrajectoryStorage.ifSpace.rstEstimatedStopPosition)
	Cartesian stop position with tracking (ifFeedback.ifSpace.rstEstimatedStopPosition)
	Cartesian position when the stop is initiated
	Cartesian position where the robot will stop