Returns the position that each motor was commanded to move to at the conclusion of the last trajectory generation cycle (I.e. the motor set points). This is the output of the high-level trajectory generator that is sent as the input commands for the motor servos. Each value is in units of encoder counts.

Returns the position that each logical robot joint (axis) was commanded to move to at the conclusion of the last trajectory generation cycle (I.e. the joint set points). These are the values that are convert to motor units (the motor set points) and then sent as the input commands for the motor servos. For many joints, the motor set point is computed by simply scaling the joint set point. However, for joints with mechanical coupling, moving a logical joint will cause two or more motors to change position. The joint set points are specified in units of degrees or millimeters.

When the controller is operated in velocity control mode, this returns the joint speed commands (I.e. set points) as computed by the high-level trajectory generator each cycle. The speeds will be in units of degrees/sec or millimeters/sec. If the system is not in the standard velocity control mode, this parameter returns zero values.

Returns the actual encoder position for each motor as sampled by the servo code during the last trajectory cycle. These values are all in units of encoder counts.

Returns the actual, instantaneous joint positions that are computed by converting the "Actual encoder counters" (DataID 3503) to joint coordinates. The joint positions are in units of degrees or millimeters. For simple motors without motor coupling, the joint positions are computed by multiplying the appropriate motor encoder value by a scale factor. For coupled motors, two or more motor positions may be used to compute the logical joint position.

Returns the instantaneous, actual joint speeds that are computed by converting the rates of change of the "Actual encoder counters" (DataID 3503) to equivalent joint coordinates. These values are in units of degrees/second or millimeters/second.

Returns the instantaneous, actual Cartesian position and orientation of the robot. This is computed by reading the "Actual encoder counters" (DataID 3503), converting these values to joint coordinates, and then applying the kinematic solution program to compute the equivalent Cartesian coordinates. The returned values are X, Y, Z displacements in millimeters followed by Yaw, Pitch, and Roll in degrees. Any active robot "tool" or "base" offsets are included in this computation.

Returns the Cartesian dimensions (displacement and orientation) of the current "Tool" in effect.  The returned values are X, Y, Z displacements in millimeters followed by Yaw, Pitch, and Roll in degrees.

Returns the Cartesian dimensions (displacement and orientation) of the current "Base" in effect.  The returned values are X, Y, Z displacements in millimeters followed by Yaw, Pitch, and Roll in degrees.

   0: Trajectory generator halted
   1: System is idle. Ready to run, but no motion in process.
   2: Executing position controlled motion, accelerating up to speed.
   3. Executing position controlled motion, moving at a constant speed.
   4. Executing position controlled motion, transitioning between 2 motions.
   5. Executing position controlled motion, decelerating robot to a stop.
   6. Executing position controlled motion, Move.ForceOverlap blending two sequential motions.
   8. Executing joint velocity controlled motion.
   9. Executing motor velocity controlled motion (special mode for homing).
   10. Executing jog (manual) control mode.
   11. External trajectory control mode.
   15. Trajectory completed, waiting for position errors to be nulled (i.e. robot to be in-range).

Timer indicating the elapsed time since the beginning of the last position or velocity controlled motion. When a new motion is started, even if two motions are blended into a continuous path, this timer is reset to 0. This timer is in units of seconds.

Flag that is set TRUE whenever the robot begins either a program controlled position or velocity trajectory. This flag is set FALSE when the trajectory has been completed and the robot is stopped or is in the process of nulling any final position errors.  At the conclusion of a trajectory, this flag is set FALSE even if the robot continues to move due to a special Cartesian control mode such as conveyor tracking or Real-time Trajectory modification.

This flag indicates if the associated robot has completed its last motion and all of the axes are within the final position and velocity (nulling) tolerance range. Once turned off, this flag will not be turned on until the start of the next motion. For velocity control mode, this signal indicates if all of the axes have achieved their new velocity set points or are still in the process or accelerating or decelerating. The "In tolerance DOUT" (DataID 3524) signal tracks the state of this flag.

If configured, the value of the specified digital output signal indicates if the associated robot has completed its last motion and all of the axes are within the final position and velocity tolerance range. Once turned off, this signal will not be turned on until the start of the next motion. For velocity control mode, this signal indicates if all of the axes have achieved their new velocity set points or are still in the process or accelerating or decelerating. This DOUT tracks the value of the "In-range Flag" (DataID 3523).

For both program control and manual control (jog) mode, this is a mask of bits that indicate which joints are currently in torque control mode.  If a joint is in torque control mode, the torque output of the joint is regulated and the position and velocity are not controlled.  If the LSB of this parameter is set, i.e. a value of "1", the first joint is in torque control mode.

The Trajectory Generator supports a number of special operating modes that can only be executed when Cartesian motions are being evaluated.  This property returns flag bits that indicate if any of these special modes are currently active.  These bits are interpreted as follows:

   &H01 - Conveyor Tracking.  If on, indicates that the robot is moving with respect to a conveyor belt and is automatically adjusting the Cartesian set point to track the belt.
   &H02 - Real-time Trajectory Modification.  If on, indicates that the Cartesian set point can be dynamically altered based upon input from a GPL program.  The Trajectory Generator incorporates the real-time modifications into the computed Cartesian set point each trajectory cycle.
   &H04 - SpeedDAC.  If on, indicates that the Trajectory Generator is computing the instantaneous tool tip speed and using this information to control the value of a analog output (DAC) device.

This factor is computed by the Trajectory Generator each cycle and is used to interpolate motions between their initial and final setpoint positions.  This factor is 1.0 at the start of a motion and 0.0 when the destination is achieved.  For example, for Cartesian straight-line motions, this factor is multiplied times the difference in the initial and final XYZ values to accelerate and decelerate the robot along the straight-line path.

A code indicating the type of the current or last motion that was executed (if no motion is currently being executed):

   0 = Joint interpolated position control
   1 = Cartesian interpolated position control
   2 = Circular interpolated position control
   3 = Velocity control
   4 = Motor velocity control
   5 = Jog control
   6 = External trajectory control

This parameter returns the value of the analog input channel that is used to define the dynamic speed command during a velocity controlled motion. The returned value is interpreted as a percentage.

If the SpeedDAC mode is enabled, this parameter returns the robot's tool tip speed in mm/sec.  This is the actual tool tip speed and will change if the "System wide test speed" (DataID 601) is altered.  This mode can be used to output a DAC value that modifies process equipment parameters as the speed of the robot is altered.

If the SpeedDAC mode is enabled, this parameter returns the value that is written to the DAC that corresponds to the "Speed DAC mode tool tip speed" (DataID 3541).  Normally, this value will range within +/- 32768.  If the SpeedDAC mode is disable but is configured via the "Speed DAC output map: node, channel" (DataID 2014), the servos control the value of the DAC and this DataID can be written to explicitly set the DAC value.  Whenever the SpeedDAC mode is enabled, the value of this parameter will be continuously written by the SpeedDAC method.

If the Real-time Trajectory Modification mode is enabled, this parameter returns the mode's "coordinate" value .  If not enabled, a value of 0 is returned.