Sometimes, a customer needs to have knowledge of the input/output registers that we use with our Copilot URCap.
Input/Output Registers
Input register
- Input_int_register_40
- Input_int_register_41
- Input_int_register_42
- Input_double_register_40
- Input_double_register_41
- Input_double_register_42
- Input_double_register_43
- Input_double_register_44
- Input_double_register_45
- SpeedSliderMask
- SpeedSliderFraction
Output register
- ActualTcpPose
- ActualTcpForce
- ActualQ
- TargetQ
- TargetTcpPose
- Output_int_register_40
- Output_int_register_41
- Output_int_register_42
- Output_double_register_34
- Output_double_register_35
- Output_double_register_36
- Output_double_register_37
- Output_double_register_38
- Output_double_register_39
- Output_double_register_41
- Output_double_register_42
- Output_double_register_43
- Output_double_register_44
- Output_double_register_45
- RuntimeState
- SafetyStatusBits
- TargetSpeedFraction
Input registers only used by Palletizing solution
- Input_int_register_24
- Input_int_register_25
- Input_int_register_26
- Input_Int_register_27
- Input_Int_register_28
- Input_Int_register_29
- Input_Int_register_30
- Input_Int_register_31
- Input_int_register_32 (PLC)
- Input_int_register_33 (PLC)
- Input_int_register_34 (PLC)
- Input_int_register_35 (PLC)
- Input_int_register_36 (PLC)
- Input_int_register_37 (PLC)
- Input_int_register_38 (PLC)
- Input_int_register_39 (PLC)
- Input_double_register_24
- Input_double_register_25
- Input_double_register_26
- Input_double_register_27
- Input_double_register_28
- Input_double_register_29
- Input_double_register_30
- Input_double_register_31
- Input_double_register_32 (PLC)
- Input_double_register_33 (PLC)
- Input_double_register_34 (PLC)
- Input_double_register_35 (PLC)
- Input_double_register_36 (PLC)
- Input_double_register_37 (PLC)
- Input_double_register_38 (PLC)
- Input_double_register_39 (PLC)