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;
END_STRUCT
END_TYPE
Parameters
|
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) |