Diagnosis
The parameters listed below are used to display axis group-internal process variables, current actual values and status messages, e.g. for diagnostic purposes.
Axis group index (index offset 0, subindex 1)
|
Selection list (display only; initialisation in bold) |
|
||||||||||
|
104 |
1 from 4 |
||||||||||
|
204 |
2 from 4 |
||||||||||
|
304 |
3 from 4 |
||||||||||
|
404 |
4 from 4 |
||||||||||
|
|
UNSIGNED_16 |
||||||||||
Name (index offset 0, subindex 2)
|
Display range (min. value | unit | max. value) |
Initialisation |
||||||||||
|
|
|
|
- |
||||||||
|
|
VISIBLE_STRING |
||||||||||
|
Kinematics display |
|||||||||||
|
Selection list (display only; initialisation in bold) |
Info |
||||||||||
|
0 |
NoKinematic |
No kinematics |
|||||||||
|
2 |
Delta3_3dof |
Three-dimensional parallel kinematics |
|||||||||
|
3 |
Portal_3dof |
Spatial portal robot with three Cartesian degrees of freedom (X, Y, Z) |
|||||||||
|
5 |
Scara_3dof |
Horizontal articulated arm robot with three Cartesian degrees of freedom (X, Y, Z) |
|||||||||
|
6 |
Scara_4dof |
Horizontal articulated arm robot with four Cartesian degrees of freedom (X, Y, Z, C) |
|||||||||
|
7 |
Delta2_2dof |
Two-dimensional parallel kinematics |
|||||||||
|
8 |
Beltkinematic_2dof |
Two-dimensional belt kinematics |
|||||||||
|
9 |
ArticulatedP_4dof |
Spatial articulated robot with force-guided horizontal end effector alignment |
|||||||||
|
12 |
LinearDelta3_3dof |
Three-dimensional parallel kinematics |
|||||||||
|
13 |
Delta3_5dof |
Three-dimensional parallel kinematics with two additional rotation axes |
|||||||||
|
14 |
Portal_4dof |
Spatial portal robot with four Cartesian degrees of freedom (X, Y, Z, C) |
|||||||||
|
15 |
Generic_4dof |
|
|||||||||
|
16 |
LinearDelta3_4dof |
Three-dimensional parallel kinematics with additional rotation axis |
|||||||||
|
17 |
Delta3_4dof |
Three-dimensional parallel kinematics with additional rotation axis |
|||||||||
|
22 |
PortalAC_5dof |
Spatial portal robot with fiveCartesian degrees of freedom (X, Y, Z, A, C) |
|||||||||
|
24 |
ArticulatedPLinA1_4dof |
Spatial articulated robot with forcibly guided horizontal end effector orientation and linear axis A1 |
|||||||||
|
25 |
Portal_2dof |
Planar portal robot with two Cartesian degrees of freedom (X, Z) |
|||||||||
|
|
UNSIGNED_16 |
||||||||||
PLCopen status (index offset 0, subindex 4)
|
PLCopen status of the axis group |
|||||||||||
|
Selection list (display only; initialisation in bold) |
Info |
||||||||||
|
1 |
GroupErrorStop |
||||||||||
|
2 |
GroupDisabled |
||||||||||
|
3 |
GroupStandby |
||||||||||
|
4 |
GroupStopping |
||||||||||
|
5 |
GroupMoving |
||||||||||
|
6 |
GroupHoming |
||||||||||
|
|
UNSIGNED_16 |
||||||||||
Status word (index offset 0, subindex 5)
|
Bit 0: AllAxesUsedAsVirtual All axis are used in 'virtual' operating mode Bit 1:AllAxesReady All axis are ready for release Bit 2:AllAxesEnabled All axis are released Bit 3:AnyAxesWarning At least one axis reports a warning Bit 4:AnyAxesError At least one axis reports an error Bit 5:GroupHomed The axis group is referenced Bit 6:AllSWLimitsEnabled Workspace monitoring via SW limit switches on all axes is active. Bit 7:AnySWLimit At least one axis reports an SW limit switch error Bit 9:AnyHWLimit At least one axis reports a HW limit switch error Bit 12:GroupEnabled The axis group is released Bit 13:GroupError The axis group is in error state Bit 14:GroupWarning The axis group reports a warning |
|||||||||||
|
Display range (min. value | unit | max. value) |
Initialisation |
||||||||||
|
0 |
|
65535 |
0 |
||||||||
|
|
UNSIGNED_16 |
||||||||||
Error number (index offset 0, subindex 6)
|
Active error |
|||||||||||
|
Display range (min. value | unit | max. value) |
Initialisation |
||||||||||
|
0 |
|
65535 |
0 |
||||||||
|
|
UNSIGNED_16 |
||||||||||
Error due to (source) (index offset 0, subindex 7)
|
Display range (min. value | unit | max. value) |
Initialisation |
||||||||||
|
|
|
|
- |
||||||||
|
|
VISIBLE_STRING |
||||||||||
Target velocity of the track (index offset 0, subindex 15)
|
Path set velocity |
|||||||||||
|
Display range (min. value | unit | max. value) |
Initialisation |
||||||||||
|
|
mm/s |
|
0 mm/s |
||||||||
|
|
FLOAT_64 |
||||||||||
Target acceleration of the track (index offset 0, subindex 16)
|
Path set acceleration |
|||||||||||
|
Display range (min. value | unit | max. value) |
Initialisation |
||||||||||
|
|
mm/s² |
|
0 mm/s² |
||||||||
|
|
FLOAT_64 |
||||||||||
Create logbook entries (index offset 0, subindex 103)
|
Selection list (Lenze setting in bold) |
|
||||||||||
|
0 |
Not active |
||||||||||
|
1 |
active |
||||||||||
|
|
UNSIGNED_8 |
||||||||||