Serial number of the robot.  This can be set to an arbitrary value to assist in identifying the robot in output displays.

This array contains constants that define the dimensions of the robot being controlled. These dimensional constants are a function of the specific robot kinematic module. Please consult the documentation on your kinematic module for a description of the values stored in this array.

When the controller is restarted, the robot's Tool transformation is automatically set to this initial value.  The elements in this database value are the standard Euler angles for a transformation: X, Y, Z, Yaw, Pitch and Roll. The runtime Tool can be changed via the Robot.Tool property.  This startup Tool value can be recalled via the Robot.RestartTool property.

When the controller is restarted, the robot's Base transformation is automatically set to this initial value.  The elements in this database value are the standard Euler angles for a transformation: X, Y, Z, Yaw, Pitch and Roll. The Base transform must always have a Pitch value of 0.  The runtime Base can be changed via the Robot.Base property.  This startup Base value can be recalled via the Robot.RestartBase property.

(Conveyor Robot) For a robot whose 1st axis provides the position of a conveyor belt for conveyor tracking, this parameter defines the X/Y/Z/Yaw/Pitch/Roll of the conveyor's "nominal transformation".  The direction of the positive X-axis of this transform specifies the direction of travel of the belt, the X and Y-axes define the plane of the belt's working surface and the XYZ position defines the original of the belt's reference frame when the encoder offset is set equal to the current conveyor encoder position.  This parameter is normally taught using the Conveyor Setup Utility.

(Conveyor Robot) For a robot whose 1st axis provides the position of a conveyor belt for conveyor tracking, these parameters define the X/Y/Z/Yaw/Pitch/Roll for two transformations that define the working limits of the conveyor belt.  The XYZ values of these transforms define two planes that are perpendicular to the direction of travel of the belt (the Yaw/Pitch/Roll coordinates are not used).  The robot's tool point must be between these two planes when working on the conveyor belt.  Which plane defines the upstream and which plane defines the downstream limit is dynamically determined by the system based upon the direction of travel of the belt.  These parameters are normally taught using the Conveyor Setup Utility.

(Conveyor Robot) For a robot whose 1st axis provides the position of a conveyor belt for conveyor tracking, this value defines the number of trajectory cycles necessary for the system to read the conveyor position and then adjust the position of the robot to achieve the conveyor position.

This propagation delay will be affected by how much the encoder position and velocity readings are filtered (to achieve smooth tracking), and how many cycles its takes this information to be communicated from the encoder driver through the trajectory generator and then down through the servo code.  If this value is set incorrectly, the robot's tool tip will either lead or lag the conveyor as the conveyor moves at various speeds.

By default, this parameter is set to 3 trajectory cycles.

If a kinematic module supports Dynamic Feedforward (DFF) and this parameter is TRUE when the system is restarted, DFF compensation will be enabled until the controller is powered down. 

DFF compensation utilizes a dynamic model of the robot to compute a feedforward term that can significantly reduce the tracking error for certain types of mechanisms.  This facility continuously updates the feedforward value based upon the position, speed and acceleration of each axis and adds this value to the compensator PID feedback loop. 

This feedforward includes compensation for cross-coupled interactions between axes and anticipates the effects of inertial, centripetal, Coriolis and related forces.

The computed DFF compensation values can be sampled by reading the "Dynamic feedforward torque" (DataID 12337).

These parameters, along with the kinematic model, the "Dynamic feedforward motor/gear inertia" (DataID 16072), and the "Kinematic dimensional constants" (DataID 16050) define the physical constants necessary for computing the Dynamic Feedforward compensation (DFF).

Each link is represented as a point mass that is positioned at the Center of Mass (COM) for the link.  l1 and l2 specify the position of the COM relative to the origin of the link.  The interpretation of l1 and l2 are a function of the kinematics of the robot. 

There is one value in DataID's 16067, 16068, and 16069 for each link of the robot plus one additional value for the payload.  For some links, all three values are utilized in the DFF computation, while for other links one or more of these values are ignored.

For most kinematic modules, if the robot can contain n axes, the n+1 th parameter defines the maximum payload for the robot and its COM relative to the n th axis.  For example, for both 5 and 6-Axis Articulated robots, the 7th values in these DataID's define the maximum mass of the robot's payload and its distance from the center of rotation of the wrist.  For the PreciseFlex™ 400 robot, which can have 4 axes plus a gripper, the payload is the 5th value.

Please see the documentation for your specific kinematic module for the definitions of the mass, l1 and l2. 

Once the Dynamic feedforward is computed for axes (in N-m or N), the torques or forces must be converted to motor current commands.  The values of this DataID are used for this conversion.  The "Dynamic feedforward rated torque" is the torque or force that is generated at an axis (not a motor) when a motor is supplied with the current defined by the "RMS rated motor current, A(rms)" (DataID 10611).

For example, if an axis is driven by a 400W motor that produces 1.27 N-m of torque at its rated current of 3.3A, and the motor is connected to the axis by a 4-to-1 gear ratio, the value for DataID 16070 should be set to 5.08 N-m (1.27 times 4).

If an element of this array is set to 0, DFF is disabled for the corresponding motor.

When the system is restarted, this parameter sets the value of Robot.Payload between 0 and 100%.  This robot property specifies the current payload of the robot as a percentage of the maximum payload, which is defined by the "Dynamic feedforward mass" (DataID 16067).  Once the system is running, a GPL program can change this default value by setting Robot.Payload to a new value.