IF_RobotConfiguration - User6Ax (Method)

Overview

Type:	Method
Available as of:	V2.13.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Configuring an up to six axial user-configured transformation robot.

Description

Next to the use of default kinematics, user-specific kinematics can be defined by using the User6Ax(…) method.

The calculation of the direct and inverse transformation must be realized in a user POU that implements the IF_UserTransformation6Ax interface.

Kinematics with up to six axes and up to six degrees of freedom are possible.

A transformation for up to six axes can be parameterized.

NOTE: If a method to configure a transformation was already called up successfully (q_etDiag = ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok), then it is not possible to overwrite the parameterization by calling another method to configure a transformation.

Interface

Input	Data type	Description
i_ifDriveA	SystemConfigurationItf.IF_Drive	Drive of axis A.
i_ifDriveB	SystemConfigurationItf.IF_Drive	Drive of axis B.
i_ifDriveC	SystemConfigurationItf.IF_Drive	Drive of axis C.
i_ifDriveD	SystemConfigurationItf.IF_Drive	Drive of axis D.
i_ifDriveE	SystemConfigurationItf.IF_Drive	Drive of axis E.
i_ifDriveF	SystemConfigurationItf.IF_Drive	Drive of axis F.
i_ifTransformation	IF_UserTransformation6Ax	Interface with the implementation for calculating the direct and inverse transformation.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message that gives additional information on the diagnostic state.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic.

A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = ET_Diag.Ok -> Status message

q_etDiag <> ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

Event-triggered message that gives additional information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ConfigurationAlreadyCompleted	105	The configuration is already completed.
ExecutionAborted	TransformationAlreadyConfigured	106	The transformation is already configured.
ExecutionAborted	DriveMissing	210	No drive is available.
InputParameterInvalid	DriveAAlreadyInUse	36	The drive A is already in use.
InputParameterInvalid	DriveAInvalid	48	The drive A is invalid.
InputParameterInvalid	DriveBAlreadyInUse	37	The drive B is already in use.
InputParameterInvalid	DriveBInvalid	49	The drive B is invalid.
InputParameterInvalid	DriveCAlreadyInUse	38	The drive C is already in use.
InputParameterInvalid	DriveCInvalid	50	The drive C is invalid.
InputParameterInvalid	DriveDAlreadyInUse	96	The drive D is already in use.
InputParameterInvalid	DriveDInvalid	93	The drive D is invalid.
InputParameterInvalid	DriveEAlreadyInUse	97	The drive E is already in use.
InputParameterInvalid	DriveEInvalid	94	The drive E is invalid.
InputParameterInvalid	DriveFAlreadyInUse	98	The drive F is already in use.
InputParameterInvalid	DriveFInvalid	95	The drive F is invalid.
InputParameterInvalid	UserTransformation6AxInvalid	209	The user-configured transformation 6Ax is invalid.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	105
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration of the robot has already been completed. The method ConfigDone(...) has already been called up successfully.	Ensure that no transformation configuration method, for example Delta3Ax(...) or AddAuxAx(...), is called after the configuration has been completed.

DriveAAlreadyInUse

Enumeration name:	DriveAAlreadyInUse
Enumeration value:	36
Description:	The drive A is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveA is already configured in the robot and cannot be used again.	Verify that no drive is assigned to the robot more than once, and correct if necessary.

DriveAInvalid

Enumeration name:	DriveAInvalid
Enumeration value:	48
Description:	The drive A is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveA is invalid.	At the input i_ifDriveA, a valid drive must be transferred.

DriveBAlreadyInUse

Enumeration name:	DriveBAlreadyInUse
Enumeration value:	37
Description:	The drive B is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveB is already configured in the robot and cannot be used again.	Verify that no drive is assigned to the robot more than once, and correct if necessary.

DriveBInvalid

Enumeration name:	DriveBInvalid
Enumeration value:	49
Description:	The drive B is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveB is invalid.	At the input i_ifDriveB, a valid drive must be transferred.

DriveCAlreadyInUse

Enumeration name:	DriveCAlreadyInUse
Enumeration value:	38
Description:	The drive C is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveC is already configured in the robot and cannot be used again.	Verify that no drive is assigned to the robot more than once, and correct if necessary.

DriveCInvalid

Enumeration name:	DriveCInvalid
Enumeration value:	50
Description:	The drive C is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveC is invalid.	At the input i_ifDriveC, a valid drive must be transferred.

DriveDAlreadyInUse

Enumeration name:	DriveDAlreadyInUse
Enumeration value:	96
Description:	The drive D is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveD is already configured in the robot and cannot be used again.	Verify that no drive is assigned to the robot more than once, and correct if necessary.

DriveDInvalid

Enumeration name:	DriveDInvalid
Enumeration value:	93
Description:	The drive D is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveD is invalid.	At the input i_ifDriveD, a valid drive must be transferred.

DriveEAlreadyInUse

Enumeration name:	DriveEAlreadyInUse
Enumeration value:	97
Description:	The drive E is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveE is already configured in the robot and cannot be used again.	Verify that no drive is assigned to the robot more than once, and correct if necessary.

DriveEInvalid

Enumeration name:	DriveEInvalid
Enumeration value:	94
Description:	The drive E is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveE is invalid.	At the input i_ifDriveE, a valid drive must be transferred.

DriveFAlreadyInUse

Enumeration name:	DriveFAlreadyInUse
Enumeration value:	98
Description:	The drive F is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveF is already configured in the robot and cannot be used again.	Verify that no drive is assigned to the robot more than once, and correct if necessary.

DriveFInvalid

Enumeration name:	DriveFInvalid
Enumeration value:	95
Description:	The drive F is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveF is invalid.	At the input i_ifDriveF, a valid drive must be transferred.

DriveMissing

Enumeration name:	DriveMissing
Enumeration value:	210
Description:	No drive is available.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	No drive has been transferred at the inputs i_ifDriveA to i_ifDriveF.	At least one drive must be configured.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the robot transformation was successful.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	106
Description:	The transformation is already configured.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration of the robot transformation has already been completed successfully.	Verify that a configuration for a transformation is only called once, and correct if necessary.

UserTransformation6AxInvalid

Enumeration name:	UserTransformation6AxInvalid
Enumeration value:	209
Description:	The user-configured transformation 6Ax is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The interface transferred at the input i_ifTransformation is invalid.	Verify that a valid interface has been transferred at the input i_ifTransformation, and correct if necessary.