FB_RobotSSeries - GetPositionLimitAxis (Method)

Overview

This chapter provides information on:

Task

Read limits for the current user range of axis positions.

Description

By calling the method, the current limits for the axis A and B of a Lexium S Robot can be read.

Default values are the maximum range of the axis.

Interface

Input	Data type	Description
i_etComponent	ET_RobotSSeriesComponent	Component of the Lexium S Robot. Valid values are: oET_RobotSSeriesComponent.AxisA oET_RobotSSeriesComponent.AxisB

Input

Data type

Description

i_etComponent

Component of the Lexium S Robot.

Valid values are:

oET_RobotSSeriesComponent.AxisA

oET_RobotSSeriesComponent.AxisB

Output	Data type	Description
q_etDiagExt	ET_DiagExt	POU-specific output for the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message.
q_sMsg	STRING[80]	Event-triggered message that gives additional information on the diagnostic state.
q_lrMinValue	LREAL	Minimum limit for the valid range of an axis.
q_lrMaxValue	LREAL	Maximum limit for the valid range of an axis.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
OK	RobotNotInitialized	89	The robot is not initialized.
InputParameterInvalid	RobotSSeriesComponentInvalid	94	The Lexium S Robot component is invalid.

The request to read the limits of an axis was successful.

RobotNotInitialized

Issue	Cause	Solution
The request to read the limits of an axis was successful, but the default data has not been set yet.	The valid default values have not been transferred yet.	Wait until the robot has been initialized and then call the method again.

RobotSSeriesComponentInvalid

Enumeration name:	RobotSSeriesComponentInvalid
Enumeration value:	94
Description:	The Lexium S Robot component is invalid.

Issue	Cause	Solution
The request to modify the limits of an axis was unsuccessful.	The value transferred at the input i_etComponent was indeterminable.	Ensure that a valid value of ET_RobotSSeriesComponent is transferred at the input i_etComponent.