Custom Robot Parameters

Open topic with navigation

Custom Robot Parameters

ID	Label	Type	#Val	Min	Max	Description
16100	Latch DIN	DIN	12			An array of digital input signal numbers that are monitored to generate latch results. Set all to 0 for no latching. Positive numbers indicate latching on a low-to-high transition, negative numbers indicate latching on a high-to-low transition. Signals 10001-10012 or 10033-10040 may be specified. Up to 12 latch results may be associated with a single robot or conveyor belt robot. The position is latched by any of the 12 events. See the Latch Inputs section of the PreciseFlex Library for a discussion of signal number restrictions and remote node specification. NOTE: Do not write to this DataID when GPL is actively processing latching because this may cause latch results to be lost. This value replaces DataID 2250.
16101	Latch queue max	Uint32				The maximum number of latch results that can be queued for this robot. Each queued latch value takes approximately 152 bytes of RAM. If this value is exceeded, an error is posted in the queue. This value replaces DataID 2251.
16102	Latch signal latency in sec	Flt64	12	0	0.01	An array of time values that specify latency corrections that are applied to the latch input circuits. Each sensed latch time is advanced by its associated latency value. Latencies are generated by the propagation delay of signals through the opto-isolation couplers of digital input channels and delays in firing strobe lights for capturing vision images. The latency value should be adjusted if the latch point changes when the robot speed changes. These array elements correspond to the elements in the Latch DIN array, DataID 16100. These values default to 0.000040 seconds. This value replaces DataID 2252.

Label

Type

#Val

Min

Max

Attr

Description

16100

Latch DIN

DIN

An array of digital input signal numbers that are monitored to generate latch results. Set all to 0 for no latching.

Positive numbers indicate latching on a low-to-high transition, negative numbers indicate latching on a high-to-low transition.

Signals 10001-10012 or 10033-10040 may be specified.

Up to 12 latch results may be associated with a single robot or conveyor belt robot. The position is latched by any of the 12 events.

See the Latch Inputs section of the PreciseFlex Library for a discussion of signal number restrictions and remote node specification.

NOTE: Do not write to this DataID when GPL is actively processing latching because this may cause latch results to be lost.

This value replaces DataID 2250.

16101

Latch queue max

Uint32

The maximum number of latch results that can be queued for this robot. Each queued latch value takes approximately 152 bytes of RAM. If this value is exceeded, an error is posted in the queue.

This value replaces DataID 2251.

16102

Latch signal latency in sec

Flt64

0.01

An array of time values that specify latency corrections that are applied to the latch input circuits. Each sensed latch time is advanced by its associated latency value. Latencies are generated by the propagation delay of signals through the opto-isolation couplers of digital input channels and delays in firing strobe lights for capturing vision images. The latency value should be adjusted if the latch point changes when the robot speed changes.

These array elements correspond to the elements in the Latch DIN array, DataID 16100. These values default to 0.000040 seconds.

This value replaces DataID 2252.