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Tightening shown at taught nominal XSCR; actual XScrewingPos uses live vision data.", "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/Teaching/Seat_530.src", "line": 1 } } ], "settings": [ { "name": "PHDistanceTolerance", "value": 12.0, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.dat", "line": 37 } }, { "name": "PHSensorAngle", "value": 35.0, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.dat", "line": 40 } }, { "name": "UpperSensorNom", "value": 699.0, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.dat", "line": 24 } }, { "name": "LowerSensorNom", "value": 603.0, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.dat", "line": 25 } }, { "name": "PHLogActive", "value": true, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.dat", "line": 86 } }, { "name": "PHLogCount", "value": 2582, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.dat", "line": 90 } }, { "name": "PHLogCapacity", "value": 5000, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.dat", "line": 88 } }, { "name": "PHLogTotalCount", "value": 2582, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.dat", "line": 91 } }, { "name": "PHLogWriteIndex", "value": 2582, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.dat", "line": 89 } }, { "name": "PHLogWrapped", "value": false, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.dat", "line": 92 } }, { "name": "SimulateCamera", "value": false, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.src", "line": 13 } }, { "name": "SimulateTightening", "value": false, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.src", "line": 15 } }, { "name": "PHDistanceCompActive", "value": true, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.src", "line": 17 } }, { "name": "SimulateCamera", "value": false, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/AC_Cycle.src", "line": 34 } } ], "ioSignals": [ { "name": "WSC1_Left", "direction": "OUT", "start": 33, "end": 33, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 10 } }, { "name": "WSC2_Right", "direction": "OUT", "start": 34, "end": 34, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 11 } }, { "name": "AtHome", "direction": "OUT", "start": 21, "end": 21, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 28 } }, { "name": "AutoHomePLCRequest", "direction": "IN", "start": 37, "end": 37, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 30 } }, { "name": "MASTERINGTEST_REQ_INT", "direction": "OUT", "start": 51, "end": 51, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 31 } }, { 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"file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 38 } }, { "name": "Blow_Off_NOK", "direction": "IN", "start": 590, "end": 590, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 39 } }, { "name": "Red_Rabbit", "direction": "IN", "start": 591, "end": 591, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 40 } }, { "name": "Screw_Loading_Init", "direction": "IN", "start": 592, "end": 592, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 41 } }, { "name": "Feeding_Position", "direction": "IN", "start": 593, "end": 593, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 42 } }, { "name": "PSetNr", "direction": "IN", "start": 601, "end": 608, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 43 } }, { "name": "UpperSensor", "direction": "IN", "start": 609, "end": 624, "width": 16, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 44 } }, { "name": "LowerSensor", "direction": "IN", "start": 625, "end": 640, "width": 16, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 45 } }, { "name": "PHSensorValue", "direction": "IN", "start": 641, "end": 656, "width": 16, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 46 } }, { "name": "oP_ScrewNum", "direction": "OUT", "start": 577, "end": 584, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 49 } }, { "name": "oP_CycleDone", "direction": "OUT", "start": 585, "end": 585, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 50 } }, { "name": "oP_TighteningNOK", "direction": "OUT", "start": 586, "end": 586, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 51 } }, { "name": "oP_CameraCheckNOK", "direction": "OUT", "start": 587, "end": 587, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 52 } }, { "name": "oP_ReadyForNextScrew", "direction": "OUT", "start": 588, "end": 588, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 53 } }, { "name": "ErrHomingNotPosible", "direction": "OUT", "start": 589, "end": 589, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 56 } }, { "name": "oP_TighteningSkipped", "direction": "OUT", "start": 590, "end": 590, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 57 } }, { "name": "AutoHomeRequest", "direction": "OUT", "start": 591, "end": 591, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 58 } }, { "name": "oP_Reserve2", "direction": "OUT", "start": 592, "end": 592, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 59 } }, { "name": "ErrCam", "direction": "OUT", "start": 609, "end": 616, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 72 } }, { "name": "ErrCam_Ready", "direction": "OUT", "start": 609, "end": 609, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 73 } }, { "name": "ErrCam_ResetDone", "direction": "OUT", "start": 610, "end": 610, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 74 } }, { "name": "ErrCam_RunmodeSet", "direction": "OUT", "start": 611, "end": 611, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 75 } }, { "name": "ErrCam_PrepareDone", "direction": "OUT", "start": 612, "end": 612, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 76 } }, { "name": "ErrCam_MeasureExecuted", "direction": "OUT", "start": 613, "end": 613, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 77 } }, { "name": "ErrCam_NumberOfResults", "direction": "OUT", "start": 614, "end": 614, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 78 } }, { "name": "ErrCam_ResultAvailable", "direction": "OUT", "start": 615, "end": 615, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 79 } }, { "name": "ErrCam_CalcBase", "direction": "OUT", "start": 616, "end": 616, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 80 } }, { "name": "ErrPF1", "direction": "OUT", "start": 625, "end": 632, "width": 8, "source": { "file": 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"KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 99 } }, { "name": "ErrPF1_ToolEnabled", "direction": "OUT", "start": 630, "end": 630, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 100 } }, { "name": "ErrPF1_ToolDisabled", "direction": "OUT", "start": 631, "end": 631, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 101 } }, { "name": "ErrPF1_VerificationDone", "direction": "OUT", "start": 632, "end": 632, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 102 } }, { "name": "ErrPF2", "direction": "OUT", "start": 641, "end": 648, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 116 } }, { "name": "ErrPF2_Ready", "direction": "OUT", "start": 641, "end": 641, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 117 } }, { "name": "ErrPF2_PSetSeleceted", "direction": "OUT", "start": 642, "end": 642, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 118 } }, { "name": "ErrPF2_TighteningStarted", "direction": "OUT", "start": 643, "end": 643, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 119 } }, { "name": "ErrPF2_TighteningDone", "direction": "OUT", "start": 644, "end": 644, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 120 } }, { "name": "ErrPF2_VerificationReq", "direction": "OUT", "start": 645, "end": 645, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 121 } }, { "name": "ErrPF2_ToolEnabled", "direction": "OUT", "start": 646, "end": 646, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 122 } }, { "name": "ErrPF2_ToolDisabled", "direction": "OUT", "start": 647, "end": 647, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 123 } }, { "name": "ErrPF2_VerificationDone", "direction": "OUT", "start": 648, "end": 648, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 124 } }, { "name": "ErrSF1", "direction": "OUT", "start": 657, "end": 664, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 139 } }, { "name": "ErrSF1_PurgeFailed", "direction": "OUT", "start": 657, "end": 657, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 140 } }, { "name": "ErrSF1_RequestCrew", "direction": "OUT", "start": 658, "end": 658, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 141 } }, { "name": "ErrSF1_ScrewNotReady", "direction": "OUT", "start": 659, "end": 659, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 142 } }, { "name": "ErrSF1_AdvanceBit", "direction": "OUT", "start": 660, "end": 660, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 143 } }, { "name": "ErrSF1_BitNotAdvanced", "direction": "OUT", "start": 661, "end": 661, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 144 } }, { "name": "ErrSF1_RetractBit", "direction": "OUT", "start": 662, "end": 662, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 145 } }, { "name": "ErrSF1_BitNotRetracted", "direction": "OUT", "start": 663, "end": 663, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 146 } }, { "name": "ErrSF1_ScrewNotTightened", "direction": "OUT", "start": 664, "end": 664, "width": 1, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 147 } }, { "name": "PGNOtoPLC", "direction": "OUT", "start": 1, "end": 8, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 153 } }, { "name": "LastReachedPos", "direction": "OUT", "start": 2000, "end": 2007, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/GlobalVariables.dat", "line": 156 } }, { "name": "goAC_CAM_FUNCTION", "direction": "OUT", "start": 129, "end": 136, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 58 } }, { "name": "goAC_CAM_ARG1", "direction": "OUT", "start": 137, "end": 144, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 59 } }, { "name": "goAC_CAM_ARG2", "direction": "OUT", "start": 145, "end": 152, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 60 } }, { "name": "goAC_CAM_ARG3", "direction": "OUT", "start": 153, "end": 160, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 61 } }, { "name": "goAC_CAM_XPos", "direction": "OUT", "start": 161, "end": 192, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 62 } }, { "name": "goAC_CAM_YPos", "direction": "OUT", "start": 193, "end": 224, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 63 } }, { "name": "goAC_CAM_ZPos", "direction": "OUT", "start": 225, "end": 256, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 64 } }, { "name": "goAC_CAM_RXPos", "direction": "OUT", "start": 257, "end": 288, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 65 } }, { "name": "goAC_CAM_RYPos", "direction": "OUT", "start": 289, "end": 320, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 66 } }, { "name": "goAC_CAM_RZPos", "direction": "OUT", "start": 321, "end": 352, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 67 } }, { "name": "giAC_CAM_FUNCTION", "direction": "IN", "start": 129, "end": 136, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 68 } }, { "name": "giAC_CAM_ARG1", "direction": "IN", "start": 137, "end": 144, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 69 } }, { "name": "giAC_CAM_ARG2", "direction": "IN", "start": 145, "end": 152, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 70 } }, { "name": "giAC_CAM_ARG3", "direction": "IN", "start": 153, "end": 160, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 71 } }, { "name": "giAC_CAM_XPos", "direction": "IN", "start": 161, "end": 192, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 73 } }, { "name": "giAC_CAM_YPos", "direction": "IN", "start": 193, "end": 224, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 74 } }, { "name": "giAC_CAM_ZPos", "direction": "IN", "start": 225, "end": 256, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 75 } }, { "name": "giAC_CAM_RXPos", "direction": "IN", "start": 257, "end": 288, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 77 } }, { "name": "giAC_CAM_RYPos", "direction": "IN", "start": 289, "end": 320, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 78 } }, { "name": "giAC_CAM_RZPos", "direction": "IN", "start": 321, "end": 352, "width": 32, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 79 } }, { "name": "goAC_CAM2_FUNCTION", "direction": "OUT", "start": 129, "end": 136, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 82 } }, { "name": "goAC_CAM2_ARG1", "direction": "OUT", "start": 137, "end": 144, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 83 } }, { "name": "goAC_CAM2_ARG2", "direction": "OUT", "start": 145, "end": 152, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_CAM.dat", "line": 84 } }, { "name": "goAC_CAM2_ARG3", "direction": "OUT", "start": 153, "end": 160, "width": 8, "source": { "file": 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"KRC/R1/System/$config.dat", "line": 108 } }, { "name": "CHANNEL_16", "direction": "ANOUT", "start": 16, "end": 16, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 109 } }, { "name": "CHANNEL_17", "direction": "ANOUT", "start": 17, "end": 17, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 110 } }, { "name": "CHANNEL_18", "direction": "ANOUT", "start": 18, "end": 18, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 111 } }, { "name": "CHANNEL_19", "direction": "ANOUT", "start": 19, "end": 19, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 112 } }, { "name": "CHANNEL_20", "direction": "ANOUT", "start": 20, "end": 20, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 113 } }, { "name": "CHANNEL_21", "direction": "ANOUT", "start": 21, "end": 21, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 114 } }, { "name": "CHANNEL_22", "direction": "ANOUT", "start": 22, "end": 22, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 115 } }, { "name": "CHANNEL_23", "direction": "ANOUT", "start": 23, "end": 23, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 116 } }, { "name": "CHANNEL_24", "direction": "ANOUT", "start": 24, "end": 24, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 117 } }, { "name": "CHANNEL_25", "direction": "ANOUT", "start": 25, "end": 25, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 118 } }, { "name": "CHANNEL_26", "direction": "ANOUT", "start": 26, "end": 26, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 119 } }, { "name": "CHANNEL_27", "direction": "ANOUT", "start": 27, "end": 27, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 120 } }, { "name": "CHANNEL_28", "direction": "ANOUT", "start": 28, "end": 28, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 121 } }, { "name": "CHANNEL_29", 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"KRC/R1/System/$config.dat", "line": 794 } }, { "name": "BM_InputSignal", "direction": "IN", "start": 1026, "end": 1026, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 795 } }, { "name": "ERR", "direction": "OUT", "start": 25, "end": 32, "width": 8, "source": { "file": "KRC/R1/TP/p00.dat", "line": 11 } } ], "positionCount": 488, "cartesianPositionCount": 306, "axisRecordCount": 19, "axisPositionCount": 12, "functionCount": 263, "motionInstructionCount": 554, "sourceCounts": { "dat": 49, "src": 47 }, "limitations": [ "Inter-controller cell placement is not defined; both ROBROOT values are local origin with C=30 degrees.", "Cartesian targets do not contain recorded joint angles. Rendering requires reconstructed inverse kinematics.", "Production screw ordering, concurrent timing, dwell time and I/O trace are not recorded.", "Live camera result and PH corrections are unavailable in static backups.", "PH log counters exist but the declared 5000-element log arrays have no exported per-sample values." ] }, { "id": "R02", "name": "Robot2", "model": "KR22R1610_2 C4", "serial": "1312301", "controller": "KUKA KRC5 (user identified)", "kss": "V8.7.8", "archive": { "filename": "Robot2.zip", "date": "2026-09-16_07-44-04", "sha256": "8d357016ac956136daf2cf5d6a9a97d1592f5ee5fa8899a9eda198a1b32c99c3", "files": 423, "uncompressedBytes": 18780667, "source": { "file": "am.ini", "line": 1 } }, "kinematics": { "$VEL_AXIS_MA[1]": { "value": 4194.03, "source": { "file": "KRC/R1/Mada/$machine.dat", "line": 113 } }, "$VEL_AXIS_MA[2]": { "value": 4800.0, "source": { "file": "KRC/R1/Mada/$machine.dat", "line": 114 } }, "$VEL_AXIS_MA[3]": { "value": 3831.66, "source": { "file": 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"KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 57 } }, { "name": "giAC_SF_FUNCTION", "direction": "IN", "start": 97, "end": 104, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 58 } }, { "name": "giAC_SF_ARG1", "direction": "IN", "start": 105, "end": 112, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 59 } }, { "name": "giAC_SF_ARG2", "direction": "IN", "start": 113, "end": 120, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 60 } }, { "name": "giAC_SF_ARG3", "direction": "IN", "start": 121, "end": 128, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 61 } }, { "name": "goAC_SF2_FUNCTION", "direction": "OUT", "start": 97, "end": 104, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 64 } }, { "name": "goAC_SF2_ARG1", "direction": "OUT", "start": 105, "end": 112, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 65 } }, { "name": "goAC_SF2_ARG2", "direction": "OUT", "start": 113, "end": 120, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 66 } }, { "name": "goAC_SF2_ARG3", "direction": "OUT", "start": 121, "end": 128, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 67 } }, { "name": "giAC_SF2_FUNCTION", "direction": "IN", "start": 97, "end": 104, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 68 } }, { "name": "giAC_SF2_ARG1", "direction": "IN", "start": 105, "end": 112, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 69 } }, { "name": "giAC_SF2_ARG2", "direction": "IN", "start": 113, "end": 120, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 70 } }, { "name": "giAC_SF2_ARG3", "direction": "IN", "start": 121, "end": 128, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_FEEDER.dat", "line": 71 } }, { "name": "goAC_TC_FUNCTION", "direction": "OUT", "start": 65, "end": 72, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 53 } }, { "name": "goAC_TC_ARG1", "direction": "OUT", "start": 73, "end": 88, "width": 16, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 54 } }, { "name": "goAC_TC_ARG2", "direction": "OUT", "start": 89, "end": 96, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 55 } }, { "name": "giAC_TC_FUNCTION", "direction": "IN", "start": 65, "end": 72, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 56 } }, { "name": "giAC_TC_ARG1", "direction": "IN", "start": 73, "end": 88, "width": 16, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 57 } }, { "name": "giAC_TC_ARG2", "direction": "IN", "start": 89, "end": 96, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 58 } }, { "name": "goAC_TC2_FUNCTION", "direction": "OUT", "start": 65, "end": 72, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 61 } }, { "name": "goAC_TC2_ARG1", "direction": "OUT", "start": 73, "end": 88, "width": 16, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 62 } }, { "name": "goAC_TC2_ARG2", "direction": "OUT", "start": 89, "end": 96, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 63 } }, { "name": "giAC_TC2_FUNCTION", "direction": "IN", "start": 65, "end": 72, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 64 } }, { "name": "giAC_TC2_ARG1", "direction": "IN", "start": 73, "end": 88, "width": 16, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 65 } }, { "name": "giAC_TC2_ARG2", "direction": "IN", "start": 89, "end": 96, "width": 8, "source": { "file": "KRC/R1/Program/AutomaticCyclePrograms/TechPackageAC/AC_FG_TC.dat", "line": 66 } }, { "name": "CHANNEL_1", "direction": "ANOUT", "start": 1, "end": 1, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 94 } }, { "name": "CHANNEL_2", "direction": "ANOUT", "start": 2, "end": 2, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 95 } }, { "name": "CHANNEL_3", "direction": "ANOUT", "start": 3, "end": 3, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 96 } }, { "name": "CHANNEL_4", "direction": "ANOUT", "start": 4, "end": 4, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 97 } }, { "name": "CHANNEL_5", "direction": "ANOUT", "start": 5, "end": 5, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 98 } }, { "name": "CHANNEL_6", "direction": "ANOUT", "start": 6, "end": 6, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 99 } }, { "name": "CHANNEL_7", "direction": "ANOUT", "start": 7, "end": 7, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 100 } }, { "name": "CHANNEL_8", "direction": "ANOUT", "start": 8, "end": 8, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 101 } }, { "name": "CHANNEL_9", "direction": "ANOUT", "start": 9, "end": 9, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 102 } }, { "name": "CHANNEL_10", "direction": "ANOUT", "start": 10, "end": 10, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 103 } }, { "name": "CHANNEL_11", "direction": "ANOUT", "start": 11, "end": 11, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 104 } }, { "name": "CHANNEL_12", "direction": "ANOUT", "start": 12, "end": 12, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 105 } }, { "name": "CHANNEL_13", "direction": "ANOUT", "start": 13, "end": 13, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 106 } }, { "name": "CHANNEL_14", "direction": "ANOUT", "start": 14, "end": 14, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 107 } }, { "name": "CHANNEL_15", "direction": "ANOUT", "start": 15, "end": 15, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 108 } }, { "name": "CHANNEL_16", "direction": "ANOUT", "start": 16, "end": 16, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 109 } }, { "name": "CHANNEL_17", "direction": "ANOUT", "start": 17, "end": 17, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 110 } }, { "name": "CHANNEL_18", "direction": "ANOUT", "start": 18, "end": 18, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 111 } }, { "name": "CHANNEL_19", "direction": "ANOUT", "start": 19, "end": 19, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 112 } }, { "name": "CHANNEL_20", "direction": "ANOUT", "start": 20, "end": 20, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 113 } }, { "name": "CHANNEL_21", "direction": "ANOUT", "start": 21, "end": 21, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 114 } }, { "name": "CHANNEL_22", "direction": "ANOUT", "start": 22, "end": 22, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 115 } }, { "name": "CHANNEL_23", "direction": "ANOUT", "start": 23, "end": 23, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 116 } }, { "name": "CHANNEL_24", "direction": "ANOUT", "start": 24, "end": 24, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 117 } }, { "name": "CHANNEL_25", "direction": "ANOUT", "start": 25, "end": 25, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 118 } }, { "name": "CHANNEL_26", "direction": "ANOUT", "start": 26, "end": 26, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 119 } }, { "name": "CHANNEL_27", "direction": "ANOUT", "start": 27, "end": 27, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 120 } }, { "name": "CHANNEL_28", "direction": "ANOUT", "start": 28, "end": 28, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 121 } }, { "name": "CHANNEL_29", "direction": "ANOUT", "start": 29, "end": 29, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 122 } }, { "name": "CHANNEL_30", "direction": "ANOUT", "start": 30, "end": 30, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 123 } }, { "name": "CHANNEL_31", "direction": "ANOUT", "start": 31, "end": 31, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 124 } }, { "name": "CHANNEL_32", "direction": "ANOUT", "start": 32, "end": 32, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 125 } }, { "name": "ExtUserID", "direction": "IN", "start": 1026, "end": 1026, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 130 } }, { "name": "ExtUserIDWatchDog", "direction": "IN", "start": 1026, "end": 1026, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 131 } }, { "name": "BM_OutputSignal", "direction": "OUT", "start": 4095, "end": 4096, "width": 2, "source": { "file": "KRC/R1/System/$config.dat", "line": 794 } }, { "name": "BM_InputSignal", "direction": "IN", "start": 1026, "end": 1026, "width": 1, "source": { "file": "KRC/R1/System/$config.dat", "line": 795 } }, { "name": "ERR", "direction": "OUT", "start": 25, "end": 32, "width": 8, "source": { "file": "KRC/R1/TP/p00.dat", "line": 11 } } ], "positionCount": 413, "cartesianPositionCount": 231, "axisRecordCount": 19, "axisPositionCount": 12, "functionCount": 253, "motionInstructionCount": 466, "sourceCounts": { "dat": 48, "src": 46 }, "limitations": [ "Inter-controller cell placement is not defined; both ROBROOT values are local origin with C=30 degrees.", "Cartesian targets do not contain recorded joint angles. Rendering requires reconstructed inverse kinematics.", "Production screw ordering, concurrent timing, dwell time and I/O trace are not recorded.", "Live camera result and PH corrections are unavailable in static backups.", "PH log counters exist but the declared 5000-element log arrays have no exported per-sample values." ] } ] }