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System.Types¶

Enum Types¶

ADAP_ACC¶

Acceleration adaptation modes

Name	Type
`ADAP_ACC`	`ENUM`

Value	Description
`#NONE`	Acceleration adaptation not activated
`#STEP1`	Dynamic model without kinetic energy
`#STEP2`	Dynamic model with kinetic energy

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ASYNC_STATE¶

Asynchronous motion states

Name	Type
`ASYNC_STATE`	`ENUM`

Value	Description
`#BUSY`	Asynchronous motions active, stopped or temporarily stored.
`#IDLE`	No asynchronous motions active or stopped (queue is empty); last motion terminated without an interrupt.
`#CANCELLED`	No asynchronous motions active or stopped (queue is empty); last motion was canceled.
`#PEND`	Asynchronous motion is planned, but is not currently being executed

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ASYS¶

None

Name	Type
`ASYS`	`ENUM`

Value	Description
`#ROBOT`	Robot axes `A1..A6`
`#EXTAX`	External axes `E1..E6`
`#EXTAX2`	External kinematic system

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AXWMODE¶

Functional principles for axis-specific workspace monitoring

Name	Type
`AXWMODE`	`ENUM`

Value	Description
`#OFF`	Work envelope monitoring deactivated
`#INSIDE`	The output is set if the TCP is located inside the work envelope
`#OUTSIDE`	The output is set if the TCP is located outside the work envelope
`#INSIDE_STOP`	The output is set and the robot stopped if the TCP is located inside the work envelope
`#OUTSIDE_STOP`	The output is set and the robot stopped if the TCP is located outside the work envelope

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CIRC_TYPE¶

Orientation control modes for CIRC blocks

Name	Type
`CIRC_TYPE`	`ENUM`

Value	Description
`#BASE`	Space-related orientation control
`#PATH`	Path-related orientation control

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COSYS¶

Orientation control modes for CIRC blocks

Name	Type
`COSYS`	`ENUM`

Value	Description
`#AX`	Motions are relative to the axis-specific coordinate system
`#CAR`	Motions are relative to the Cartesian coordinate system.

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CP_VEL_TYPE¶

Reduction modes for CP path velocity

Name	Type
`CP_VEL_TYPE`	`ENUM`

Value	Description
`#CONSTANT`	No reduction
`#VAR_T1`	Reduction in jog mode SStep(T1)
`#VAR_ALL`	Reduction in all modes

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DEVICE¶

Device status

Name	Type
`DEVICE`	`ENUM`

Value	Description
`#ACTIVE`
`#BLOCK`
`#PASSIVE`
`#OFF`

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DIGINCODE¶

Wether a digital input is signed or not

Name	Type
`DIGINCODE`	`ENUM`

Value	Description
`#SIGNED`
`#UNSIGNED`

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DIRECTION¶

Direction status

Name	Type
`DIRECTION`	`ENUM`

Value	Description
`#FORWARD`
`#BACKWARD`

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PRO_MODE¶

Program run modes

Name	Type
`PRO_MODE`	`ENUM`

Value	Description
`#ISTEP`	Incremental Step : block-by-block processing with a stop after each instruction (without `ADVANCE` run processing).
`#PSTEP`	Program Step: complete processing of subprograms (without `ADVANCE` run processing).
`#MSTEP`	Motion Step: step-by-step processing with a stop after each motion instruction (without `ADVANCE` run processing).
`#CSTEP`	Continuous Step: Step-by-step processing with a stop after each motion instruction (with `ADVANCE` run processing).
`#GO`	Continuous execution to the end of the program.
`#BSTEP`	Back Step: Continuous execution backwards to the start of the program.

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PRO_STATE¶

Process states

Name	Type
`PRO_STATE`	`ENUM`

Value	Description
`#P_FREE`	Program not selected
`#P_RESET`	Program reset
`#P_ACTIVE`	Program active
`#P_STOP`	Program stopped
`#P_END`	End of program reached

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SW_ONOFF¶

Generic ON/OFF switch

Name	Type
`SW_ONOFF`	`ENUM`

Value	Description
`#ON`	Switched `ON`
`#OFF`	Switched `OFF`

Struc Types¶

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ACC_CAR¶

Frame data structure with an additional magnitude field.

Name	Type
`ACC_CAR`	`STRUC`

Field	Type	Description
`X`	`REAL`	X component
`Y`	`REAL`	X component
`Z`	`REAL`	X component
`ABS`	`REAL`	Magnitude \|\|X² + Y² + Z²\|\|
`A`	`REAL`	A component
`B`	`REAL`	B component
`C`	`REAL`	C component

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AXBOX¶

Axis-specific state data structure

Name	Type
`AXBOX`	`STRUC`

Field	Type	Description
`Mode`	`AXWMODE`	Functional principle of the axis-specific workspace monitoring function
`State`	`BOOL`	Violation of the axis-specific workspace
`Name[]`	`CHAR[24]`	Name of the particular axis-specific workspace

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AXIS¶

Robot axis A1..A6 data structure.

Name	Type
`AXIS`	`STRUC`

Field	Type	Description
`A1`	`REAL`
`A2`	`REAL`
`A3`	`REAL`
`A4`	`REAL`
`A5`	`REAL`
`A6`	`REAL`

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AXIS_CAL¶

Axis-specific state data structure

Name	Type
`AXIS_CAL`	`STRUC`

Field	Type	Description
`A1`	`BOOL`
`A2`	`BOOL`
`A3`	`BOOL`
`A4`	`BOOL`
`A5`	`BOOL`
`A6`	`BOOL`
`E1`	`BOOL`
`E2`	`BOOL`
`E3`	`BOOL`
`E4`	`BOOL`
`E5`	`BOOL`
`E6`	`BOOL`

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AXIS_INC¶

Axis-specific increments data structure

Name	Type
`AXIS_INC`	`STRUC`

Field	Type	Description
`A1`	`INT`
`A2`	`INT`
`A3`	`INT`
`A4`	`INT`
`A5`	`INT`
`A6`	`INT`
`E1`	`INT`
`E2`	`INT`
`E3`	`INT`
`E4`	`INT`
`E5`	`INT`
`E6`	`INT`

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BUS¶

L2 bus interface data structure.

Name	Type
`BUS`	`STRUC`

Field	Type	Description
`PROTO`	`INT`
`PROC`	`INT`
`RCO`	`INT`
`BL`	`INT`
`PT`	`INT`
`TS`	`INT`
`BAUD`	`INT`
`TSL`	`INT`
`MIN_TDSR`	`INT`
`MAX_TDSR`	`INT`
`TTR`	`INT`
`HSA`	`INT`
`G`	`INT`
`DFLT_SAP`	`INT`

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CP¶

Speed/Acceleration data structure

Name	Type
`CP`	`STRUC`

Field	Type	Description
`CP`	`REAL`	linear component
`ORI1`	`REAL`	Swivel component
`ORI2`	`REAL`	Rotational component

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DATE¶

Date data structure.

Name	Type
`DATE`	`STRUC`

Field	Type	Description
`CSEC`	`INT`
`SEC`	`INT`
`MIN`	`INT`
`HOUR`	`INT`
`DAY`	`INT`
`MONTH`	`INT`
`YEAR`	`INT`

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DHART¶

Denavit-Hartenberg parmaeters data structure.

Name	Type
`DHART`	`STRUC`

Field	Type	Description
`DHART_A`	`REAL`	length `a`
`DHART_D`	`REAL`	length `b`
`DHART_ALPHA`	`REAL`	angle `α`

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DISPLAY_VAR¶

Observable variable data structure.

Name	Type
`DISPLAY_VAR`	`STRUC`

Field	Type	Description
`Name`	`CHAR[32]`	Name of the observable variable
`Path`	`CHAR[12]`	Corresponding file list name
`Titla`	`CHAR[12]`	Name to be displayed for the variable

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E6AXIS¶

Robot axis A1..A6 and external axis E1..E6 data structure.

Name	Type
`E6AXIS`	`STRUC`

Field	Type	Description
`A1`	`REAL`
`A2`	`REAL`
`A3`	`REAL`
`A4`	`REAL`
`A5`	`REAL`
`A6`	`REAL`
`E1`	`REAL`
`E2`	`REAL`
`E3`	`REAL`
`E4`	`REAL`
`E5`	`REAL`
`E6`	`REAL`

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E6POS¶

Position data structure.

Name	Type
`E6POS`	`STRUC`

Field	Type	Description
`X`	`REAL`
`Y`	`REAL`
`Z`	`REAL`
`A`	`REAL`
`B`	`REAL`
`C`	`REAL`
`E1`	`REAL`
`E2`	`REAL`
`E3`	`REAL`
`E4`	`REAL`
`E5`	`REAL`
`E6`	`REAL`
`S`	`INT`	Status
`T`	`INT`	Turn

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FRA¶

Fraction data structure.

Name	Type
`FRA`	`STRUC`

Field	Type	Description
`N`	`INT`	numerator
`D`	`INT`	denominator

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FRAME¶

Frame data structure.

Name	Type
`FRAME`	`STRUC`

Field	Type	Description
`X`	`REAL`
`Y`	`REAL`
`Z`	`REAL`
`A`	`REAL`
`B`	`REAL`
`C`	`REAL`

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INERTIA¶

Inertia data structure.

Name	Type
`INERTIA`	`STRUC`

Field	Type	Description
`X`	`REAL`
`Y`	`REAL`
`Z`	`REAL`

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POS¶

Position data structure.

Name	Type
`POS`	`STRUC`

Field	Type	Description
`X`	`REAL`
`Y`	`REAL`
`Z`	`REAL`
`A`	`REAL`
`B`	`REAL`
`C`	`REAL`
`S`	`INT`	Status
`T`	`INT`	Turn

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PRO_IP¶

Process pointer data structure

Name	Type
`PRO_IP`	`STRUC`

Field	Type	Description
`I_EXECUTED`	`BOOL`	`true` if the instruction is executed. `false` otherwise.
`NAME[]`	`CHAR[32]`	Name of the block in the `ADVANCE` run
`NAME_C[]`	`CHAR[32]`	Name of the block in the `MAIN` run
`P_ARRIVED`	`INT`	Path status for the programmed point
`P_NAME[]`	`CHAR[24]`	Name or aggregate of the end or auxiliary point
`SNR`	`INT`	Block number in the `ADVANCE` run
`SNR_C`	`INT`	Block number in the `MAIN` run

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SIGINF¶

Signal info data structure.

Name	Type
`SIGINF`	`STRUC`

Field	Type	Description
`Typ`		`#IN` : signal is declared for inputs `#OUT` : signal is declared for outputs `#INV` : signal is not declared `#IN0` : reserved for future use `#OUT0` : signal for system outputs set to `false`
`DTyp`		`#SYSI` : system signal of data type `INT` (whole number) `#SYSB` : system signal of data type `BOOL` (logic state) `#USRI` : user-defined global signal of data type `INT` `#USRB` : user-defined global signal of data type `BOOL`
`Idx`	`INT`	Signal number. `O` for invalid signal or signal set to `false`.
`Len`	`INT`	Signal length. `1` for signal of type `BOOL`. `0` for invalid signal.

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SIGNAL¶

A signal defines and alias to one or several IN/OUT

Name	Type
`SIGNAL`	`STRUC`

Comments

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Notes

A SIGNAL links predefined signal variables for inputs or outputs with a name. Such a link, i.e. a SIGNAL declaration, is required in order to be able to address an analog input or output. An input or output may appear in several SIGNAL declarations.