T_Command
TYPE T_Command : STRUCT
Structure defining the command information defined in robot data block.
Syntax
Definition:
TYPE T_Command :
STRUCT
EnableProfiAlarms : BOOL := FALSE;
EnableVerbose : BOOL := FALSE;
OverrideCmd : UINT := 0;
OperationModeCmd : UINT := 0;
ToolCmd : UINT := 0;
CoordSystemCmd : UINT := 0;
CS9Safety : T_CS9SftyCmd;
LifebitPeriod : TIME := TIME#200ms;
GroupStopTimeout : TIME := TIME#250ms;
END_STRUCT
END_TYPEParameters
Name | Type | Initial | Description |
|---|---|---|---|
EnableProfiAlarms | BOOL | FALSE | TRUE=Error messages are reported on Profinet network. |
EnableVerbose | BOOL | FALSE | TRUE=Enable tracing activity of the server. It is strongly recommended to enable trace for debugging purpose only. |
OverrideCmd | UINT | 0 | Commanded Override [1..100] (monitor speed) |
OperationModeCmd | UINT | 0 | Commanded operation mode 0= invalid , 1= Manu, 3=Auto, 4 remote(extAut) |
ToolCmd | UINT | 0 | Select the Tool used for movement. Starting with 0 |
CoordSystemCmd | UINT | 0 | Select the coordinate system used for movement. Starting with 0 |
CS9Safety |
| CS9 Only - Safety features | |
LifebitPeriod | TIME | TIME#200ms | Select the period of the internal lifebit (100ms<Period<1000ms) |
GroupStopTimeout | TIME | TIME#250ms | Set maximum response time of robot controller when MC_GroupStop is commanded |