This defines how often the Trajectory Generator computes position set points for transmission to the servo subsystem. Typically, the servos cycle at between .125 msec and 1 msec. The Trajectory Generator operates between 1 msec and 4 msec. In between receiving position setpoints, the servos interpolate the position commands to generate smooth performance. For most systems, Trajectory Generator update periods of either 2 msec or 4 msec works best.  The permitted values for this parameter are: .001, .002, and .004.

In distributed servo network systems, this value also determines how often the master controller sends setpoints to the slave controllers, how many slave nodes may be connected to the network, and how often the values of servo network remote IO is updated. For 3rd party slave controllers, consult your manufacturer for permitted values.

For diagnostic and debugging purposes, the system can be operated at a reduced speed. When this parameter is set to 100%, all motions operate at the speeds, accelerations, decelerations and s-curve profiles that are set by the motion program. If this parameter is set below 100%, all motions for all robots are executed at a reduced speed. When the System speed is reduced, the robot will continue to follow exactly the same path as when this speed is set to 100% (ignoring differences due to position tracking errors).  This is accomplished by effectively slowing down the Trajectory Generator clock, which will alter the speeds, accelerations, decelerations, and s-curve durations set by the motion program.

Any change in this parameter is immediately put into effect (subject to the "Rate of change of test speed" DataID 602) and will modify any in process motion.

This parameter dictates how quickly a new "System wide test speed in %" (DataID 601) is put into effect. This prevents a large change in the Test Speed from imparting an excessive acceleration to any in process motion.

This parameter specifies how often the servos run. Normally it should be left at the default value of 0.000125 seconds. It must be set to a value equal to 0.000125 times 1, 2, 4, 8 or 16.

In distributed servo network systems, the master controller value is used by all Precise slave controllers.

This parameter specifies how often the current servo loop is run by the controller firmware.  Normally it should be left at the default value of 0.0000625 sec which corresponds to a loop rate of 16KHz. In special situations, it can be set to 0.000125 for a loop rate of 8KHz.

In distributed servo network systems, the master controller value is used by all Precise slave controllers.

Selects the servo scheduler method. Value 0 selects the new method that balances the servo loading and allows more axes to be controlled. Value 1 selects the old method for backward compatibility if the new method adversely affects servo stability. Default is 0.

If the trajectory generator has not completed execution by the end of its update period, an overrun occurs. Too many overruns indicate the system is overloaded and the "Trajectory Generator update period" (DataID 600) should be increased.

DataID's 620 to 627 are utilized by an external jog pendant to implement manual control of the robot. These values allow the pendant to control the robot and axis to be moved, and the mode and speed of the movement.  A heartbeat with a time out is provided to automatically stop the robot if communication is lost. To enable jog mode, either the Jog mode enable signal (DataID 215) or the Jog mode enable DIN (DataID 216) must be asserted.

The "Jog robot" parameter specifies the robot to be controlled in jog mode.  A value of 1 specifies that the first robot is to be jogged.

This parameter specifies the jog mode and is interpreted as follows:

  0 - Idle
  1 - Joint manual mode
  2 - Cartesian world manual mode
  3 - Cartesian tool manual mode
  4 - Free joint manual mode

Part of the jog pendant interface, see DataID 620.

This parameter specifies the axis or the Cartesian degree-of-freedom to be manually jogged.  For joint and free mode, this is the number of the axis (1-12).  For the Cartesian modes, this refers to displacements in X (1) , Y (2), and Z (3) and rotations about X (4), Y (5), and Z (6) respectively.  As a special case, for free mode only, a value of -1 is accepted and means free all permitted axes.  A joint value of 0 is always invalid.

Part of the jog pendant interface, see DataID 620.

This parameter specifies the jog mode commanded speed.  A value of 100 corresponds to the maximum allowed manual control speed in the positive direction for the selected mode of operation.

Part of the jog pendant interface, see DataID 620.

This heartbeat signal must be periodically written when the robot is moving in jog mode in order to confirm that communication has not been lost.  Any non-zero value can be written.  After the controller detects the write operation, this value is cleared.  If the heartbeat is not written again before the expiration of the time out value (DataID 625), the robot is brought to a stop.

Part of the jog pendant interface, see DataID 620.

This parameter specifies the maximum time permitted between Jog heartbeat signals (DataID 624) before the system assumes that communication is lost.  If the time out occurs, the robot is immediately decelerated to a stop.

Part of the jog pendant interface, see DataID 620.

The controller posts any error message that occur during jogging mode to this string.  This string is automatically cleared when the error is resolved.

Part of the jog pendant interface, see DataID 620.

This parameter enables a mode that provides greater safety if a wireless jog pendant is used.  If this parameter is True and the "Jog heartbeat" (DataID 624) times out, jog mode is terminated and computer mode is asserted.  To continue jogging, a jog mode must be selected before the robot can be manually moved.  This is consistent with safety standards that require an explicit operation if there is a possible communication failure during jog mode. 

This parameter is False by default.  In this case, if the heartbeat times out, the commanded speed is set to 0, but the jog mode is not terminated.  So, if a move button continues to be held down, the robot will start moving when communication is re-established.

Part of the jog pendant interface, see DataID 620.

When set TRUE, enables the operation of the Precise Hardware Manual Control Pendant (MCP) via the second serial line.  This RS-232 line (/dev/com2) is available via pins in the Remote Front Panel connector.  If this parameter is FALSE, this serial port can be accessed by GPL projects for general serial communication.  This switch only effects the operation of the RS-232 port in the Front Panel connector.  The E-stop and other robot power related signals in this connector are not affected by this switch.

Indicates if a Precise hardware MCP is connected and properly communicating with the controller and, if so, what type of MCP is connected:

  -1 - Invalid type of MCP connected
   0 - No MCP connected
   1 - Precise MCP with 4 line by 20 character display
   2 - Precise MCP with 15 line by 20 character display

Latched to TRUE whenever the RECORD key on the Precise MCP is pressed.  This parameter database value can be used by local and remote application programs to trigger recording information.  This DataID is used to clear (and set) the latched value as desired.

Access to this control variable is also provided by the Controller.RecordButton property.

These parameters define the number of fractional digits that are typed when the robot's position is displayed via the Manual Control Pendant (MCP).  Since there are a limited number of digits in the LCD display, these parameters allow the range of XYZ position, Yaw / Pitch / Roll angles, and joint positions values to be adjusted.  By default, 3 decimal (fractional) digits are displayed for each of these types of numbers.

Set TRUE when the Hardware Manual Control Pendant is to be automatically beeped each time control of the MCP display is passed to a user application program.  For example, when a Controller.ShowDialogMCP is executed, the MCP will beep when the dialog is first displayed.   The default value is TRUE.