Specifications of the RobotStatus Node

RobotStatus

• Overview

  The RobotStatus node indicates the status of the robot.

  This node is supported by firmware version 8.0.0.xx and later.

Object Definition

RobotStatus is defined below.

Attribute	Value
BrowseName	RobotStatus
IsAbstract	False

References	Node Class	BrowseName	DataType	TypeDefinition	Modelling Rule
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI)
HasComponent	Variable	Power	Boolean	BaseDataVariableType	Mandatory
HasComponent	Variable	Home	Boolean	BaseDataVariableType	Mandatory
HasComponent	Variable	IntegrationMotorOnTime	DurationString	BaseDataVariableType	Mandatory
HasComponent	Variable	MotorOnCount	UInt32	BaseDataVariableType	Mandatory

Object Description

• Variable Power

  Indicates whether the robot is on high or low power. The values are described in the following table.

  Value	Description
  True	Power HIGH
  False	Power LOW

• Variable Home

  Indicates whether the robot is presently in the Home position. The values are described in the following table.

  Value	Description
  True	The present position is Home.
  False	The present position is not Home, or the Home position is not specified.

• Variable IntegrationMotorOnTime

  Indicates the manipulator’s excitation time.

• Variable MotorOnCount

  Indicates the number of times the manipulator undergoes excitation.