The Configuration and Parameter Database contains the values that are used to configure the controller and monitor the activity of the system when it is running. Each value is identified by a "DataID", which is a number from 1 to 32767. This section contains detail information on each of the values. For more general information, please see section in the "Introduction to the Software" that describes the Parameter Database.
In the following sections, the DataID's are organized by function. Within each group, there are generally two types of values: "parameters" that are primarily used for setting up the system and "dynamic variables" or "datalogging variables" that are used to monitor the execution of the system. Most of the dynamic variables are read-only.
For each value, the following information is provided:
ID
This is the numeric identifier that is utilized to access the database value. The values are grouped as follows:
DataID
Description
1 - 1999
General system information
2000 - 3499
High-level robot configuration parameters
3500 - 3999
High-level robot dynamic, datalogging variables
4000 - 5999
Reserved
6000 - 6999
MotionBlocks (DIOMotion) specification and control data
7000 - 7499
CANopen specification and control data
7500 - 9999
Reserved
10000 - 11999
Servo configuration parameters
12000 - 13999
Servo dynamic, datalogging variables
14000 - 14999
Servo expert commands
15000 - 15999
Reserved
16000 - 17999
Robot calibration and testing parameters
17000 - 32767
Reserved
Label
This is a string label that describes the data value. This label is contained in the parameter database disk file, but it is only provided for informational and ease-of-use purposes. If the controller must be restarted in order for any change in the parameter value to take effect, the label is displayed in green. If high power to the robot must be disabled in order to change a parameter value, the label is displayed in red.
Type
This indicates how the value is internally stored. The possible value types are as follows:
Data Type
Description
BOOL
Boolean value, 0 (False) or 1 (True)
Int8
Signed 8-bit integer, -128 to 127
Uint8
Unsigned 8-bit integer, 0 to 255
Int16
Signed 16-bit integer, -32768 to 32767
Uint16
Unsigned 16-bit integer, 0 to 65535
Int32
Signed 32 bit integer, -4,294,967,265 to 4,294,967,294
Uint32
Unsigned 32 bit integer, 0 to &HFFFFFFFF
Flt32
Single precision floating point number
Flt64
Double precision floating point number
String
ASCII string value. Within the Parameter DB, the string length is always fixed and is normally defined in the Max column (see below).
%
A floating point percentage where 100 = 100%
AIN
Analog input signal channel number
DIN
Digital input signal channel number
DOUT
Digital output signal channel number
#Val
For database elements that are arrays of values, this is the number of array elements. A #Val of 1 or blank indicates that the element is a scalar value. The following define some special array lengths:
# of Values
Description
MAX_AXIS
Maximum number of logical axes (joints) that can be defined for each robot, normally equal to 12 or less.
MAX_CART
Maximum number of values to interpolate when performing a Cartesian motion. Equal to MAX_AXIS-2 since the XYZ displacement is treated as a single DOF along the direction of travel. Normally equal to 10.
MAX_MOTOR
Maximum number of motors that can be defined for each robot, normally equal to 12 or less. The number of motors is usually equal to the number of axes, but may be different if the robot utilizes split-axis control or other special configurations that require extra motors.
MAX_ROBOT
Maximum number of robots that can be configured or have been configured in the controller, normally equal to 12 or less.
Min/Max
For numeric values, this specifies the range of allowable values. If no minimum or maximum value is specified, the full range of numeric values are permitted. For string values, the Max normally specifies the number of characters in the string.
The following are some symbolic minimum and maximum values:
Range Specifications
Description
FP32_Mx
Largest possible positive single precision floating point number
MAX_AXIS
Maximum number of axes that can be defined for each robot, normally equal to 12.
MAX_MOTOR
Maximum number of motors that can be defined for each robot, normally equal to 12.
MAX_ROBOT
Maximum number of robots that can be configured in the controller, normally equal to 12.
This column contains flags that specify special access attributes for the data value.
Attribute
Description
BT
Indicates that if the value is changed, the system must be restarted (i.e. rebooted) in order for the new value to take effect.
NP
Indicates that the value can only be changed if high (motor) power is disabled.
RO
Indicates that the value is read-only. If this attribute is not present, the value is accessible for both read and write.
Description
This is the description of the specified database element.
In the label and description of many database elements, the unit of measure for the database value is defined. The following table describes some of the custom units of measure utilized.
Units
Description
A(rms)
Current in amperes (amps) computed by taking the root-mean-square of the three amplifier/motor phases. Since each phase is driven with a sinusoidal current profile, this "average" value is equal to the maximum value of the individual phases divided by the square root of 2. The maximum continuous "average" current that a motor can be driven at is typically specified as its "Rated RMS current in amps".
A(z-p)
Current in amperes (amps) with a range from 0 to the peak value permitted for any single amplifier/motor phase. This is how amplifiers are often rated and specifies the maximum range of current that can be applied to any single phase.
ccnts
Current and current feedback counts. This refers to the values returned by the ADC's that sample the actual current generated by each phase of the amplifier and the units of measure of the commanded currents, Iq and Id. These values can range from +/- 1597 (G3xxx and G2xxx controllers) or +/- 2048 (G1xxx and GSB controllers), which represent the full range of currents permitted for a single amplifier phase (DataID 10610).
ecnts
Encoder counts.
mcnts
Motor counts. In most cases, the encoder is mounted on the motor and so encoder counts are equivalent to motor counts (ecnts=mcnts). However, if the encoder is connected to the motor via a gear train, the encoder counts and motors counts would differ.
pcnts
PWM counts per PWM update period. The PWM update period is the duration between successive calculation of the various terms in the current feedback loop and the generation of a new current command.
tcnts
Output torque counts. The servos output a range of +/-32767 torque counts (tcnt) that span the maximum current permitted for a single phase of an amplifier (DataID 10610). For example, if the amplifier has a peak single phase motor output current of 10A, DataID 10610 will be set to 10. A torque count of 16383 will then correspond to a single phase current output of 5A.