Data type for internal use.
Version history
0.1.0
deGroot
Changes
Changed:
- source code ported
- version number reset
- now using semantic versioning
Overview
| name | type | default | comment |
|---|---|---|---|
| checkSum | DINT | ||
| WorkcellState | INT | ||
| WorkcellError | INT | ||
| WorkcellNumberOfErrors | INT | ||
| WorkcellMode | INT | ||
| WorkcellNoOfAxes | INT | ||
| WorkcellNoOfRobots | INT | ||
| IZStatus | ARRAY[0..7] OF DINT | ||
| digitalInputs | ARRAY[0..1] OF DINT | ||
| signals | MLxxReadSignals | ||
| Axis | ARRAY[0..15] OF
MLxAxisFeedback | ||
| HMIFeedbackData | MLxHMIFeedbackData | ||
| CommandStatus | ARRAY[0..24] OF INT | 0 = DN, 1=IP, 2=AC, 3=PC, 4=ER, 5=ACK | |
| DataBuffer | ARRAY[0..22] OF DINT | ||
| synchCounter | INT | ||
| licenseInfo | SINT |
Details
checkSum
DINTWorkcellState
INTWorkcellError
INTWorkcellNumberOfErrors
INTWorkcellMode
INTWorkcellNoOfAxes
INTWorkcellNoOfRobots
INTIZStatus
ARRAY[0..7] OF DINTdigitalInputs
ARRAY[0..1] OF DINTState of robot digital inputs IN#001 to IN#064.
These signals can be red directly (no need to
use MLxReadDigitalOutputs) and are useful for reading signals from
the robot controller with low latency.
These can be mapped in the robot’s CIOPRG.LST to physical robot inputs
or any other signals to create custom functionality or work-arounds.
- IN#001 corresponds to the lowest bit of
digitalInputs[0]. - View the signals on the pendant: IN/OUT » GENERAL PURPOSE INPUT*
* on DX200: UNIVERSAL INPUT
signals
MLxxReadSignalsAxis
ARRAY[0..15] OF
MLxAxisFeedbackHMIFeedbackData
MLxHMIFeedbackDataCommandStatus
ARRAY[0..24] OF INT| Value | Description |
|---|---|
| 0 | DN |
| 1 | IP |
| 2 | AC |
| 3 | PC |
| 4 | ER |
| 5 | ACK |
DataBuffer
ARRAY[0..22] OF DINTsynchCounter
INTValue returned by the robot controller.
Should match the MLX.InternalData.WritePacket.synchCounter value.
Useful to check MotoLogix communication setup.
licenseInfo
SINT