Number of the Digital Input channel that triggers the start of a DIO Motion. Positive DIN numbers indicate trigger on logical high or upwards going signals. Negative DIN numbers indicate trigger on level low or downward going signal. If the channel number is 0, the moti

on block is ignored unless it is part of a sequence of motions.

TRUE if "DIN trigger" (DataID 6100) is interpreted as a level signal else FALSE if the motion begins on an edge transition. If TRUE, the DIN signal must remain asserted during the entire motion. If the DIN becomes FALSE prior to the end of the motion, the motion is immediately decelerated to a stop. If the signal goes FALSE but becomes TRUE prior to the start of a different DIO motion, the interrupted motion moves to its original destination even in the case of relative positions. For edge triggered motions, the motion runs to completion independent of whether the signal subsequently changes state.

Destination of the motion in joint coordinates in units of degrees or millimeters as appropriate. The joint coordinates are interpreted as absolute or relative values depending upon the setting of the "Relative position" (DataID 6103) switch. Absolute positions are defined relative to the homing position. Relative positions are defined relative to the final destination of the previous motion.

TRUE if the motion destination is relative to the final destination of the previous motion, else FALSE if "Target position in deg or mm" (DataID 6102) is in absolute joint coordinates relative to the homing position.

   1. Motion speed specified as a percentage of the nominal joint speeds.
   2. Motion speed parameter utilized for Cartesian rotation, not currently used.
   3. Motion acceleration rate as a percentage of the nominal accelerations for the joints.
   4. Motion deceleration rate as a percentage of the nominal accelerations for the joints.
   5. Maximum acceleration ramp up and ramp down time in seconds. If 0, the motion has a square wave acceleration profile. If non-zero, this produces a trapezoidal s-curve acceleration profile.
   6. Maximum deceleration ramp up and ramp down time in seconds. If 0, the motion has a square wave deceleration profile. If non-zero, this produces a trapezoidal s-curve deceleration profile.

Specifies if the motion is to come to a complete stop at the final destination before the next motion is started. If the motion is to be stopped, also specifies the position error criteria for determining when each axis is sufficiently close to its target position. This parameter is interpreted as follows:

  <0: Do not stop at the destination. Attempts to blend with the next motion if any has been specified.
   0: Stop at the destination. Skips testing axes position errors and signals in-range as soon as the final set points are sent to the servos.
  >0: Stop at the destination. Defines how strict a criteria to apply to determine if the robot is actually at the destination. A value of 100 corresponds to the manufacturer's most strict criteria. A value of 1 indicates a very loose test.

If this value is non-zero and "Not cp motion" (DataID 6105) is TRUE, at the completion of this motion, a delay of the specified number of seconds is executed before the next motion can be executed.

TRUE if at the end of this motion, the torques for all motors should be set to 0 during the "Post motion delay in sec" (DataID 6106). This feature allows the motors to freely spin for a period of time following the completion of the motion. The motors are automatically placed back into position control mode at the start of the next motion.

TRUE if the next sequential DIO MotionBlock is to be executed at the completion of this motion. This allows a single trigger to initiate the execution of a multi segment motion. If TRUE, the next MotionBlock should have a 0 for its "DIN trigger" (DataID 6100).

These are optional digital outputs that are signaled at the completion of a motion. If "Not cp motion" (DataID 6105) is TRUE, these are signaled when the robot reaches its final destination and before the delay period commences. For cp motions, these are signaled as soon as the motion begins execution and the pre-processing begins on any subsequent motion.