igus ReBeL - Meaning of Enumeration Values

10 MODBUS
• 9 registers for robot and external axes (A1-A6, E1-E3).
• 3 registers for Cartesian position (X, Y, Z)
• 3 registers for Cartesian orientation (A, B, C)
• 1 register for selection of conversion type
According to the translation type, the kinematics converts from axis angles to Cartesian coordinates
or vice versa. This can be helpful if, for example, target positions are only available as coordinates,
but the robot is to move per joint instruction.
Value Meaning
0 No conversion, axis positions and Cartesian coordinates are taken over without any
change (default)
1 Cartesian coordinates and orientation are calculated from the axis positions
2 The axis positions are calculated from the Cartesian coordinates and orientation
Table 28: Conversion type
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Beachten Sie, dass möglicherweise nicht alle Positionen von der Kinematik erreicht
werden können. Prüfen Sie die Werte daher auf Plausibilität.
10.4.5 Meaning of Enumeration Values
The following tables describe the meaning of the enumeration values (enums).
Value Meaning
0 No error
13 Axis limit Min
14 Axis limit max
21 Central axis singularity
22 Out of range
23 Wrist singularity
30 Virtual box violated in X+
31 Virtual box violated in X-
32 Virtual box violated in Y+
33 Virtual box violated in Y-
34 Virtual box violated in Z+
35 Virtual box violated in Z-
50 NAN in calculation
90 Motion not allowed
65535 (0xFFFF) Unknown error
Table 29: Kinematic error code
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