When this value is set TRUE (non-zero), the system immediately and rapidly decelerates any in-process motion of the associated robot to a stop. This rapid deceleration is applied in the same manner as a soft or hard E-stop. If the robot is operating in velocity or torque controlled mode, the robot is switched to position controlled mode and a position controlled deceleration is performed. Unlike a soft and hard E-stop which affect all robots, RapidDecel only affects a single robot. Also, a RapidDecel does not generate a user program error and does not disable high power. So, RapidDecel can be used to prematurely terminate a motion based on sensor input without otherwise affecting the flow of program execution.

This parameter can specify the deceleration rate when a RapidDecel event occurs. By default, the robot will be decelerated at this rate or the deceleration percentage set for the currently executing motion, whichever is greater.  This value is interpreted as a % of the "100% joint accels in (mm or deg)/sec^2" (DataID 2702).  For example, if this parameter is set to 200%, the robot will be decelerated at twice the values specified in DataID 2702.  See "RapidDecel Mode" (DataID 2112) for the setting that controls how this value is interpreted.

When the system is operated in "Automatic execution mode" (see DataID 200) and the Master/Slave mode is selected, this is the master/slave gear ratio that is utilized.

When the system is operated in "Automatic execution mode" (see DataID 200) and the Master/Slave mode is selected, this is the master/slave ramp up time that is utilized to gradually put the gear ration into effect.

If this flag is FALSE, the system ignores the robot and does not issue normal commands to control it. This flag is automatically set to FALSE if an error occurs initializing a robot.

If this flag is TRUE, commands are not send to the servos. Instead the servo operation is simulated and the trajectory generator can operate without real devices connected.  This is a special diagnostic and testing mode and should not be used for normal system operation.

This flag is a debugging aid. It should be set to FALSE except during system software debugging. If this flag is TRUE, the normal timeout check for communications with the servos is disabled.

This flag is a diagnostic aid. When set TRUE, trace messages are displayed on the console that show what commands are being sent to the servos. Setting this flag will affect system timing, so it should be used with caution.

An array of bit values, 1 per motor, that is used as the servo axis status when the "Simulate servo interface" (DataID 2105) is set to TRUE. You can set this value to simulate various servo states and error conditions. The bit values are defined as follows:

   &H80000 - Set if fatal error
   &H40000 - Set if severe error
   &H20000 - Set if standard error
   &H10000 - Set if soft error
   &H00800 - Set if high power is on
   &H00400 - Set if amp is on
   &H00200 - Set if brake is released
   &H00100 - Set if motor is commutating
   &H00080 - Set if low hard stop detected
   &H00040 - Set if high hard stop detected
   &H00020 - Set if low stop limit switch on
   &H00010 - Set if high stop limit switch on
   &H00008 - Set if home switch is ON
   &H00004 - Set if cal seek command succeeds
   &H00002 - Set if axis is calibrated
   &H00001 - Set if this axis is in-range

For "Encoder Only" kinematic modules, if the "Simulate Servo Interface" (DataID 2105) is set True, this parameter defines the speed at which the system automatically changes the position of the first encoder of the robot.  This is a general simulation / debugging aid and is of particular usefulness in simulating a conveyor belt.

This word contains a number of bit flags that control special features of conveyor tracking.  The meaning of each bit is define below:

   &H0001 - Conveyor motion times fixed.  This flag is normally "0" and indicates that motion times for straight-line Cartesian motion that are relative to a conveyor belt should be computed to achieve the specified speeds relative to the ground.  This way, even if the conveyor belt speed is increased or decreased, the axes of the robot will still be operated with approximately the same speeds.  This is what is typically desired for pick-and-place operations during conveyor tracking.

However, if this flag is set to "1", the speeds for straight-line motions are computed as though the conveyor belt was stationary.  This permits the speed of the robot with respect to the moving conveyor reference frame to be specified.  This is desirable if you are attempting to control the tool tip speed for a process application such as coarsely dispensing fluid in a pattern on a moving conveyor belt.  In this case, the robot will increase or decrease its ground speed as the conveyor speed is modified and it is the responsibility of the programmer to ensure that excessive speeds are not generated.

Motion times for circular interpolated motions are always computed as though this switch was set to "1"

   &H0002 - Unidirectional conveyor travel.   If set to "1", tests for conveyor upstream and downstream limits are not affected by the instantaneous direction of travel of the conveyor belt.

Normally, if this flag is set to "0", the instantaneous direction of travel of the belt dictates which is the upstream and which is the downstream belt limit.  If the conveyor belt occasionally stops, small changes in encoder position can give the appearance that the belt has changed direction and tests for the upstream and downstream limit can spontaneously switch.

If this flag is "1", the direction of travel of the belt is always assumed to be along the positive X-axis of the "Conveyor robot nominal transform" (DataID 16060).


The value of this flag word defaults to 0.

If set, tripping an over-travel limit switch generates a "soft E-stop" instead of a "hard E-stop" error.  A soft error will decelerate the robot but leave motor power enabled.  A hard error disables motor power.

This value is FALSE by default

This parameter controls how the deceleration % is computed during a RapidDecel of any type (i.e. a RapidDecel command, a Soft E-Stop or an Hard E-Stop).  The actual deceleration % is computed from the setting of "RapidDecel deceleration in %" (DataID 2101) and the deceleration percentage set for the currently executing motion as follows:

    0:   The deceleration will be the greater of DataID 2101 or the motion's specified deceleration.  With this setting, the motion will not overshoot its approximate end point.
    1:   The deceleration will be the lesser of DataID 2101 or the motion's specified deceleration.   The motion may overshoot its end point in order to satisfy the deceleration %.
    2:   The deceleration will be the value set by DataID 2101.  The motion may overshoot its end point in order to satisfy the deceleration %.
    3:   The deceleration will be the value defined for the motion. The motion will not overshoot its approximate end point.

This value is set to 0 by default.