Rainbow Robotics RB Series, Руководство пользователя

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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59 Int On/Off status at digital output port #4 (on:1 / off:0).
60 Int On/Off status at digital output port #5 (on:1 / off:0).
61 Int On/Off status at digital output port #6 (on:1 / off:0).
62 Int On/Off status at digital output port #7 (on:1 / off:0).
63 Int On/Off status at digital output port #8 (on:1 / off:0).
64 Int On/Off status at digital output port #9 (on:1 / off:0).
65 Int On/Off status at digital output port #10 (on:1 / off:0).
66 Int On/Off status at digital output port #11 (on:1 / off:0).
67 Int On/Off status at digital output port #12 (on:1 / off:0).
68 Int On/Off status at digital output port #13 (on:1 / off:0).
69 Int On/Off status at digital output port #14 (on:1 / off:0).
70 Int On/Off status at digital output port #15 (on:1 / off:0).
71 Float Temperature of motor drive at base joint in Celsius.
72 Float Temperature of motor drive at shoulder joint in Celsius.
73 Float Temperature of motor drive at elbow joint in Celsius.
74 Float Temperature of motor drive at wrist1 joint in Celsius.
75 Float Temperature of motor drive at wrist2 joint in Celsius.
76 Float Temperature of motor drive at wrist3 joint in Celsius.
77 Int
Location of program counter in the task (The location
where Step command executes).
78 Int Desired number of repetitions.
79 Int Current action number of the task.
80 Int Current number of repetitions.
81 Float Task time elapsed in seconds (not reset at the
beginning of the task)
82 Int Task status (1: Idle, 2: Paused, 3: Run)
83 Float Motion speed (0~1).
84 Float Robot status (1: stopped, 3: in operation)
85 Float
Status of power in terms of LSB offset
0: 48V input
1: 48V output
2: 24V status
3: E-stop status
4: PC switch status
5: Motion controller status
86 Float Not used
87 Float Not used
88 Float Not used
89 Float Not used