IF_RobotMotion - SetMaxDeceleration (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Setting the maximum path deceleration.

Description

With the method SetMaxDeceleration(...), the maximum deceleration (change of the velocity per time unit) with which the path motion of the robot has to be executed can be determined.

NOTE: If MaxDeceleration has the value 0.0 or if the call-up of the method SetMaxDeceleration(...) sets it to the value 0.0, then MaxDeceleration is set to MaxAcceleration for motion commands.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Specifies from which part of the robot that the motion parameters are to be set. Valid values are: oET_RobotComponent.All oET_RobotComponent.Path oET_RobotComponent.OrientationAll oET_RobotComponent.OrientationX oET_RobotComponent.OrientationY oET_RobotComponent.OrientationZ oET_RobotComponent.AuxAxAll oET_RobotComponent.AuxAx1 ... AuxAx10 For further information, refer to ET_RobotComponent.
i_lrValue	LREAL	Specifies the maximum deceleration (change of the velocity per time unit) with which the path motion of the robot has to be executed. The specification of the maximum deceleration can be executed again at any time. The specification of the maximum deceleration applies to the motion commands following thereafter (MoveL, MoveC, ...). Unit: [Units/s2] Value range: i_lrValue > 0.0 AND i_lrValue <= Emergency MaxDeceleration set with the method IF_RobotConfiguration.SetEmergencyParameter Special case: MaxDeceleration = 0.0 -> In this case MaxDeceleration is set to MaxAcceleration in the motion commands following thereafter.

Input

Data type

Description

i_etComponent

ET_RobotComponent

Specifies from which part of the robot that the motion parameters are to be set.

Valid values are:

oET_RobotComponent.All

oET_RobotComponent.Path

oET_RobotComponent.OrientationAll

oET_RobotComponent.OrientationX

oET_RobotComponent.OrientationY

oET_RobotComponent.OrientationZ

oET_RobotComponent.AuxAxAll

oET_RobotComponent.AuxAx1 ... AuxAx10

For further information, refer to ET_RobotComponent.

i_lrValue

LREAL

Specifies the maximum deceleration (change of the velocity per time unit) with which the path motion of the robot has to be executed.

The specification of the maximum deceleration can be executed again at any time.

The specification of the maximum deceleration applies to the motion commands following thereafter (MoveL, MoveC, ...).

Unit: [Units/s2]

Value range: i_lrValue > 0.0 AND i_lrValue <= Emergency MaxDeceleration set with the method IF_RobotConfiguration.SetEmergencyParameter

Special case: MaxDeceleration = 0.0 -> In this case MaxDeceleration is set to MaxAcceleration in the motion commands following thereafter.

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	MaxAccelerationNotSet	128	The maximum acceleration is not set.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	AuxiliaryAxisNotConfigured	127	The auxiliary axis is not configured.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	MaxDecelerationRange	126	The maximum deceleration is out of range.
InputParameterInvalid	OrientationNotAvailable	199	The orientation is not available.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	127
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
Setting the motion parameters was unsuccessful.	The value transferred at the input i_etComponent corresponds to no configured auxiliary axis.	Ensure that the axis is configured before using an auxiliary axis.

ComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	132
Description:	The component is invalid.

Issue	Cause	Solution
Setting the motion parameter was unsuccessful.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component has been transferred.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
Setting the motion parameter was unsuccessful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Setting the motion parameter for the component Path is not possible when an external position source for the robot components is configured. Do not set the motion parameter for the component Path.

Issue

Cause

Solution

Setting the motion parameter was unsuccessful.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

Setting the motion parameter for the component Path is not possible when an external position source for the robot components is configured.

Do not set the motion parameter for the component Path.

MaxAccelerationNotSet

Enumeration name:	MaxAccelerationNotSet
Enumeration value:	128
Description:	The maximum acceleration is not set.

Issue	Cause	Solution
Setting the motion parameters was unsuccessful.	The value 0.0 was transferred at the input i_IrValue. The motion parameter MaxAcceleration has not been set previously.	Ensure that a valid value for MaxAcceleration is set before setting MaxDeceleration to the value 0.

MaxDecelerationRange

Enumeration name:	MaxDecelerationRange
Enumeration value:	126
Description:	The maximum deceleration is out of range.

Issue	Cause	Solution
Setting the motion parameter was unsuccessful.	The value transferred at the input i_lrValue lies outside the valid range.	At the input i_lrValue, a value greater than 0 must be transferred. At the input i_lrValue, a value less than or equal to MaxEmergencyDeceleration must be transferred.

Issue

Cause

Solution

Setting the motion parameter was unsuccessful.

The value transferred at the input i_lrValue lies outside the valid range.

At the input i_lrValue, a value greater than 0 must be transferred.

At the input i_lrValue, a value less than or equal to MaxEmergencyDeceleration must be transferred.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The motion parameter has been set successfully.

OrientationNotAvailable

Enumeration name:	OrientationNotAvailable
Enumeration value:	199
Description:	The orientation is not available.

Issue	Cause	Solution
Setting the motion parameter was unsuccessful.	The orientation transferred at the input i_etComponent is not available.	Ensure that the transformation used supports the orientation.