Specifies the primary function to be executed when the system is placed into "Automatic Execution" mode. The defined values are as follows:

   1: Guidance Programming Language (GPL) runtime (also requires "Automatic start auto execute mode" DataID 202 to be set TRUE).
   2. Digital input to fixed positions (DIO MotionBlocks)
   3. Analog input controlled velocity
   4. Analog input controlled torque
   5. Master/slave mode
   6. CANopen via CAN net
   7. CANopen via serial line

Indicates the actual "Automatic Execution" mode that is in effect. Typically, this will have the same value as "Automatic execution mode" (DataID 200). However, the requested and actual modes can be different if the specified mode cannot be executed because power is disabled or some other condition prohibits the mode from being executed.

When TRUE, the function specified by the "Automatic execution mode" (DataID 200) is initiated at system startup and whenever the function is able to run. If the Automatic execution mode is "GPL runtime", this parameter must always be set to TRUE to permit GPL procedures to Attach the robot. Setting "Auto execute mode start" (DataID 203) to FALSE does not stop automatic execution. See "Auto execute mode start" (DataID 203) for more information.

   1. "Auto execute mode start" (DataID 203) is TRUE and "Auto execute mode start DIN" (DataID 204) is TRUE if configured.
   2. "Auto start auto execute mode" (DataID 202) is TRUE and "Auto execute mode start DIN" (DataID 204) is TRUE if configured.
   3. "Auto execute mode start DIN" (DataID 204) is transitioned to TRUE if configured.

Auto execute mode will be terminated if ANY of the following is true:

   1. Robot power is disabled.
   2. An error occurs during auto execute mode.
   3. "Auto start auto execute mode" (DataID 202) and "Auto execute mode start" (DataID 203) are set to FALSE.
   4. "Auto execute mode start DIN" (DataID 204) is set to FALSE if configured.

This parameter is set to FALSE if auto execution stops for any reason. This parameter is ignored if "CANopen control enable" (DataID 210) is TRUE.

If non-zero, this specifies the number of a digital input signal that can initiate or terminate auto execution mode. If implemented, this signal normally is connected to a TWO POSITION ON/OFF SWITCH. Please see "Auto execute mode start" (DataID 203) for how this digital input interacts with other parameter settings. This signal is ignored if "CANopen control enable" (DataID 210) is TRUE.

If TRUE and "Automatic execution mode" (DataID 200) is set to 1, a GPL project is loaded, compiled, and started whenever Auto execute mode starts. The path for the project file and start switches are found in "Auto start GPL project file" (DataID 205). If the project is already loaded or compiled, no error occurs but it is simply started. To trigger the auto start, either "Auto execute mode start" (DataID 203) or "Auto start auto execute mode" (DataID 202) must also be set to TRUE.

Only used if "Auto start a GPL project" (DataID 205) is set to TRUE. Contains the path and file name of the project folder to load, compile, and start. The file name may be followed by switches that are passed to the "Start" command.

For example: "/flash/project/test -stack 32 -event"

If TRUE, CANopen control bits control the power state. If FALSE, "Auto execute mode start" (DataIDS 202, 203 and 204), "Automatic power on" (DataID 240), and "Power enable" (DataIDs 241 and 242) control the power state.

If TRUE, a RIO board operates like a Guidance Controller and can act as a MODBUS/TCP master to access other RIO boards.

Always TRUE for Guidance controllers. For RIO boards, must be FALSE if the RIO is to act as a standard remote I/O board.  May be set TRUE for RIO boards that act as intelligent controllers.

If TRUE, this controller maps MODBUS/TCP slave requests to holding registers in DataID 561.

If FALSE, this controller maps slave requests directly to I/O ports.

The controller must be rebooted for changes to take effect.

By default, TRUE for standard controllers, FALSE for RIO boards

If this value is TRUE, any auto-execution mode program is stopped and the procedure to home all robots and their motors begins. If this value is TRUE when the system starts up, all robots are automatically homed at startup. Automatically cleared when the home operation completes, either successfully or with an error. Ignored if "CANopen control enable" (DataID 210) is TRUE.

If non-zero, this specifies the number of a digital input signal that initiates homing. On a transition from 0 to 1, this signal causes the "Perform homing" (DataID 213) switch to be set, and the homing operation begins. Setting the input to 0 has no effect.

If this flag is TRUE, the controller is forced into JOG (manual control) mode. JOG mode supercedes all other modes, including CANopen mode.

If non-zero, this specifies the number of a digital input signal that performs the same function as "Jog mode enable" (DataID 215).

If non-zero, the number of the digital input signal that must be TRUE for commutation to start. Ignored if "CANopen control enable" (DataID 210) is TRUE.

   0: Power off, Initializing at startup
   1: Power off, fatal error
   2: Power off, restarting after fault
   3: Power going down, no fault
   4: Power going down, fault
   5: Power off, fault occurred
   6: Power off, waiting for CANopen power request FALSE
   7: Power off, waiting for power request TRUE
   8: Power on, enabling amplifiers
   9: Power on, performing commutation
   10: Power on, enabling servos, releasing brakes
   11: Power on, waiting for auto mode
   12: Power on, executing auto mode

If non-zero, specifies the number of the digital output signal that is set to TRUE when the amplifiers are enabled, and FALSE after they are disabled.

If non-zero, specifies the number of the digital output signal that is set to TRUE while the system is waiting for power to be enabled.

If non-zero, specifies the number of the digital output signal that is set to TRUE when a fault condition occurs, and is set to FALSE when the fault is explicitly cleared or power is turned on.

Returns a value that combines the "Actual automatic execution mode" (DataID 201), Hard E-Stop signals (DataID 243, 244), and the "Power State" (DataID 230).  The possible returned values are as follows:

   0: Power off, Initializing at startup
   1: Power off, fatal error
   2: Power off, restarting after fault
   3: Power going down, no fault
   4: Power going down, fault
   5: Power off, fault occurred
   6: Power off, waiting for CANopen power request FALSE
   7: Power off, waiting for power request TRUE
   8: Power on, enabling amplifiers
   9: Power on, performing commutation
   10: Power on, enabling servos, releasing brakes
   11: Power on, waiting for auto mode
   12: Power on, executing auto mode
   15: Power off, hard e-stop asserted
   16: Power turning on, safety diagnostics running
   20: Power on, ready to have GPL attach robot
   21: GPL project executing and attached to a robot
   22. Digital input to fixed positions (DIO MotionBlocks) executing
   23. Analog input controlled velocity executing
   24. Analog input controlled torque executing
   25. Master/slave mode executing
   26. CANopen via CAN net executing
   27. CANopen via serial line executing
   28. Homing executing
   29. Virtual MCP Jog mode executing
   30. External trajectory mode executing
   31: Hardware MCP Jog mode executing

If non-zero, specifies the numbers of the optional digital output signals that display the power state. All of the specified outputs are turned on or off in unison.

If motor power is off, these signals toggle slowly, at about 1 Hz. If motor power is on, these signals toggle faster, at about 4 Hz. If the CPU is overheating, these signals toggle at approximately 8 hz for five minutes before the CPU shuts down.  If these signals are at a constant on or off state, either the controller has not been powered on or the controller has crashed or been turned off or the controller is booting.

For custom OEM systems, any digital output signals can be assigned to this function.  For Precise robots and control systems, the first parameter is normally set as follows:

    20: The 8th general digital output signal is connected to a status light.  Default configuration for PreciseFlex™ 400 robot, PrecisePlace robots with no ZIO option, and Guidance Systems D4/D6 with no ZIO or GSB boards installed.
    8040: The status output of a ZIO board is connected to the status light.  Default configuration for PrecisePlace and PreciseFlex 1300/1400 robots with ZIO boards, and Guidance Systems D4/D6 with a ZIO installed.
    300015: The 3rd output of a GSB is connected to the status light.  Default configuration for Guidance Systems D4/D6 that include a GSB to control an additional axis.

If non-zero, specifies the number of a digital output signal that tracks the Remote Front Panel robot motor power light.   This light is interpreted as follows:

    Off if motor power off.
    Blinking if motor power coming on.
    On if motor power on.

If non-zero, specifies the number of a digital output signal that will be blinked when specified by a GPL application program or when a system error occurs.  The output of this signal is as follows:

    Off if no system error and "Blink error light" (DataID 250) is False.
    Blinking if system error or "Blink error light" (DataID 250) is True.

If non-zero, specifies the number of a digital output signal that shows TCP communications status.  This signal is automatically controlled as follows:

    On with brief off pulses every 2048 msec, indicates no TCP connection.
    Blinks on and off with a 25% duty cycle every 2048 msec, indicates TCP connection exists.
    Flashes on/off quickly when TCP I/O occurs.

If TRUE, the system attempts to automatically enable power whenever possible. This includes automatically enabling power when the system is restarted. During normal operation, if power is disabled but no error exists or if a soft error has occurred that can be automatically cleared, such as "Time out during nulling", the error is automatically cleared and power is re-enabled. However, if a hard error has occurred, such as "Hard E-stop", the E-stop must be reset before power will be automatically re-enabled. This is equivalent to continuously toggling "Power enable" (DataID 241) or "Power enable DIN" (DataID 242). Ignored if "CANopen control enable" (DataID 210) is TRUE.

When this switch is set to TRUE, robot power is requested to be enabled. Power can be enabled if all of the Hard E-Stops are cleared, the Auto/Manual switch is set to Auto, and ANY of the following is true:

   1. "Power enable" (DataID 241) is TRUE and the system is not configured for Category 3 (CAT-3) safety operation.
   2. "Automatic power on" (DataID 240) is TRUE and the system is not configured for Category 3 (CAT-3) safety operation.
   3. The "Power enable DIN" (DataID 242) is configured and the signal value transitions from FALSE to TRUE while the system is waiting for a signal to enable power.
   4. A CANopen signal to enable power is received while the system is operating in CANopen mode.

Power will be turned off if ANY of the following is true:

   1. "Power enable" (DataID 241) is FALSE.
   2. A hard E-Stop signal is asserted.
   3. An error is detected that asserts either a hard E-Stop or turns off "Power enable".
   4. A CANopen signal to disable power is received while the system is operating in CANopen mode.

This parameter is automatically set to FALSE when power is disabled.

If non-zero, this specifies the number of a digital input signal that can be used to enable (but not disable) power. If implemented, this signal is normally connected to a MOMENTARY CONTACT BUTTON of the type found on the optional system Front Panel. For power to be enabled, this signal must be toggled from the off to the on state while the system is waiting for a signal to enable power (please see "Power enable" (DataID 241) for more information). This toggling is required to ensure that power in not inadvertently re-enable if this signal is stuck in the on position. If the system is equipped with a front panel, this parameter should specify the channel number for the front panel power enable button's dedicated DIO signal (DIN 18007). This parameter is ignored if "CANopen control enable" (DataID 210) is TRUE.

If TRUE, this parameter asserts a hard E-STOP. This initiates the same power down sequence as pressing the hardware front panel E-STOP button. Robot power is turned off immediately subject to the hardware time delay that allows the robot to be rapidly decelerated in a controlled fashion. Note that this software process does not satisfy Category 3 (CAT-3) safety requirements. This parameter must be cleared before power can be re-enabled.

If non-zero, this specifies the number of a digital input signal that performs the same function as "Hard E-Stop" (DataID 243). Note that this software configurable function does not satisfy Category 3 (CAT-3) safety requirements. To satisfy Category 3 (CAT-3) safety requirements, the hard wired front panel E-Stop circuit must be utilized.

When this value is set TRUE (non-zero), the system immediately performs a soft E-stop for all robots in the system. A soft E-stop is like a hard E-stop in that any motion that is in process is quickly decelerated to a stop and any associated user programs receive an error indication. However, unlike a hard E-stop, a soft E-stop does not drop power to the robot. This allows rapid restart or continuation of program execution. This parameter is automatically cleared before program execution begins.

If non-zero, this specifies the number of a digital input signal that performs the same function as "Soft E-Stop" (DataID 245). The input must be set to 0 for automatic program execution to begin.

A transition of this value from FALSE to TRUE when the controller "Power state" (DataID 230) is "fatal error" (value 1), changes the power state to "Power off, restarting after fault" (value 2) so that an attempt to turn power on can be attempted. A fatal error indicates a serious problem, so this reset should be performed carefully after verifying there are no unsafe conditions.

This switch is similar to "Power Enable" (DataID 241) with the following differences:

It attempts to enable robot power even when the Auto/Manual switch is set to Manual.

It is cleared automatically and does not indicate the actual power state. Clearing this switch does not disable power.

Set by user or GPL application software to force digital output signal specified by "Error light DOUT" (DataID 238) to blink.

If all robots have "Robot is collaborative" (DataID 2030) set True to indicate that they are operating in collaborative mode, DataID 251 will be True and the digital output signal defined by DataID 252 will be asserted.  In addition, the banner at the top of the web pages will have text indicating the system is in collaborative mode.

NOTE: DataID 2030 does not enable collaborative operation or alter the collaborative performance of the robot, it only indicates that the robot has been loaded with the proper parameters to operate it in collaborative mode.  It is the responsibility of the robot developer to ensure that the robot satisfies applicable safety standards when these indicators are enabled.

An array of 4 values. Each non-zero value specifies the number of a digital output signal that tracks the state of the controller E-STOP. These are software-controlled outputs and do not satisfy Category 3 safety requirements.

During controlled motor power shutdown, delay for this time after setting the brakes but before turning off the servos and amplifiers. This delay allows the brakes to fully engage so that motors do not move.  Please note that all brakes are enabled and disabled at the same time.

This delay should be shorter than the "E-Stop delay in sec" (DataID 267) value. Setting this value too large may cause spurious amplifier fault errors after an E-Stop.

NOTE: For certain severe errors, this time delay might be ignored and the amplifiers might be disabled immediately after the brakes are engaged.

During power up, delay for this time after releasing the brakes, before attempting to move a motor. This delay allows the brakes to fully release.  Please note that all brakes are enabled and disabled at the same time.

During motor power up, wait for no more than this time for the motor power to come on. An error is signaled and power shut down if this time expires before the motor power comes on.

During motor power up, delay for this amount of time after turning on power, but before turning on the amplifiers.

During motor power up, wait for no more than this time for the motor amplifiers to come on. An error is signaled and power shut down if this time expires before all the amplifiers come on.  Note, the actual delay time may be 2 seconds longer than the value specified by this parameter.  If the system automatically tries to compensate for an amplifier phase offset (see "Disable auto phase offset adjustment, DataID 10695), it will allow up to 2 additional seconds to perform the phase offset compensation.

During motor power up, delay for this amount of time after turning on the amplifiers, but before attempting to move any motors.

During commutation, wait for no more than this time for the commutation operation to complete. If it does not complete, an error is signaled and the power is shut down.

When an E-Stop signal is received, the hardware delays for this amount of time to allow the software to perform a controlled deceleration of the motors and shutdown of the amplifiers. If the software does not shut down the power within the time specified, the hardware shuts off power directly.  Depending on the mechanism response time, this may be set to a maximum value of 1.0485 seconds.

This delay should be longer than the "Delay after setting brakes in sec" (DataID 260) value. Otherwise an E-Stop may cause the hardware power to shut off before the amplifiers are disabled, which may generate an "Amplifier fault" error (-3110) or a "Amplifier under-voltage" error (-3109),

For safety, this value should be set as short as possible. Typically, this number should be set to be less than 0.5 second.

If non-zero, this specifies the number of a digital input that supersedes the standard "High Power Enable" input on the front panel connector. In an EC Category 3 (CAT-3) system, this input must transition from low to high within 30 seconds of a power enable request for motor power to be enabled.