©
Copyright Asyril S.A.
Advanced use of the Asycube Control URCap
Version: A2
36/50
4.2. Managing variables & logs
The execution of a programming node, implemented by the Asycube Control URCap,
generates and updates 5 global variables:
•
asycube_platform_sending_success
: indicates if the URCap has correctly sent the
request to the Asycube platform.
•
asycube_platform_status_msg
: describes the current status of the URCap with
respect to the Asycube platform.
•
asycube_platform_response
: response of the Asycube platform triggered by the sent
request.
•
asycube_platform_state
: this integer describes the current state of the platform.
These states are linked to either the general state of the platform or the response of
a specific request sent to the platform, to get a specific state (system state, backlight
state, actuator state, etc.). These states can be used to optimize the process
implemented by the UR program. The following table indicates the different values
that can take the
asycube_platform_state
variable.
State value
State meaning
0
Unknown platform state
1
Idle state
2
The platform response indicates an
error. Please refer to the Programming
guide, section 4.3.
5
System is in service
6
System is in standby
7
Undefined system state
21
Backlight is off
22
Backlight is on
23
Undefined backlight state
51
Actuators are disabled
52
Actuators are enabled but stopped
53
Platform is vibrating
54
Actuators are stopped over temperature
55
Undefined actuator state
Table 3
– Possible state values
•
asycube_platform_state_msg
: this message gives a textual description of the
asycube_platform_state
variable.
