Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 89
Configure an Articulated Independent Robot Chapter 4
Monitor Status Bits for Kinematics
You can monitor the status of the Kinematics functions by using Logix
Designer application status bits.
To see if Check this tag And this bit For
A coordinate system is the source
of an active transform
Coordinate system TransformSourceStatus On
A coordinate system is the target
of an active transform
Coordinate system TransformTargetStatus On
An axis is part of an active
transform
Axis TransformStateStatus On
An axis is moving because of a
transform
Axis ControlledByTransformStatus On
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