T_Status
TYPE T_Status : STRUCT
Structure defining the status information defined in robot data block
Syntax
Definition:
TYPE T_Status :
STRUCT
Initialized : BOOL;
Online : BOOL;
ErrorPending : BOOL;
IsMoving : BOOL;
EStopActive : BOOL;
DummyPlug : BOOL;
ExternalWMS : BOOL;
ExternalMCP : BOOL;
ExternalMcp_Wms : BOOL;
ActualSpeed : REAL;
ActualOverride : REAL;
ActualErrorNumber : UINT;
ActualOperationMode : UINT;
ActualErrorID : T_PendingErrors;
CartesianPos : T_CartesianPos;
JointPos : T_JointPos;
JointForces : ARRAY [0..5] OF REAL;
ActualCoordSystem : UINT := 0;
ActualTool : UINT := 0;
RobotStateMachine : UINT;
MovementID : INT;
MovementProgress : INT;
RobotModel : STRING(10);
ControllerModel : UINT;
CS9Safety : T_CS9SftyFbk;
Heartbeat : UINT;
ServerMajorVersion : UINT;
ServerMinorVersion : UINT;
ServerEdit : UINT;
ClientMajorVersion : UINT;
ClientMinorVersion : UINT;
ClientEdit : UINT;
END_STRUCT
END_TYPE
Parameters
Name | Type | Initial | Description |
|---|---|---|---|
Initialized | BOOL |
| True = The library is initialized |
Online | BOOL |
| True = robot can receive commands |
ErrorPending | BOOL |
| True = an error is pending |
IsMoving | BOOL |
| True = robot is moving |
EStopActive | BOOL |
| True = E-stop is pending |
DummyPlug | BOOL |
| True = staubli teach pendant replaced by dummy plug |
ExternalWMS | BOOL |
| True = Remote WMS option activated. Operation mode selection is done from user-supplied Working Mode Selector device. Stäubli WMS Box is replaced by J113 dummy plug.False = Stäubli WMS box is used OR externalWMS option NOT configured properly (see iomap.cfx file on robot side) |
ExternalMCP | BOOL |
| True = Remote MCP option activated. User-supplied Teach Pendant is used for jogging robot in manual mode.False = Stäubli SP1 Teach pendant is in used or Remote WMS option NOT configured properly (see iomap.cfx file on robot side) |
ExternalMcp_Wms | BOOL |
| True = Robot is properly configured to use both user- supplied WMS and Teach Pendant. |
ActualSpeed | REAL |
| Cartesian speed of the current TCP |
ActualOverride | REAL |
| Current override value [0.01 .. 100] |
ActualErrorNumber | UINT |
| Total number of pending errors in robot |
ActualOperationMode | UINT |
| Actual working mode 0= invalid , 1= manu, 3=Auto, 4 remote(extaut) |
ActualErrorID | T_PendingErrors |
| List of pending error on server side |
CartesianPos |
| UDT for a robot position | |
JointPos |
|
| |
JointForces | ARRAY [0..5] OF REAL |
|
|
ActualCoordSystem | UINT | 0 | Number of the user frame in which the position of the Tool Center Point is reported. |
ActualTool | UINT | 0 | Number of the Tool Center Point for which the position is reported. |
RobotStateMachine | UINT |
| State Machine of the robot |
MovementID | INT |
| Identifier of motion currently executed |
MovementProgress | INT |
| Percentage of actual movement that has been completed |
RobotModel | STRING(10) |
| Robot model connected to controller |
ControllerModel | UINT |
| Model of connected Stäubli controller 8=CS8C / 9=CS9 |
CS9Safety |
| CS9 Only - Safety features | |
Heartbeat | UINT |
| Counter incremented at every cycle of the server's communication task |
ServerMajorVersion | UINT |
| Major version of unival PLC server |
ServerMinorVersion | UINT |
| Minor version of unival PLC server |
ServerEdit | UINT |
| Edit of the uniVAL plc server |
ClientMajorVersion | UINT |
| Major version of unival PLC client library |
ClientMinorVersion | UINT |
| Minor version of unival PLC client library |
ClientEdit | UINT |
| Edit of the unival PLC client library |