IF_RobotPSeriesCalibration - OnTorque (Method)

Overview

This chapter provides information on:

Task

Axes of the robot move one after another to their stop positions on the robot housing.

Description

By calling up the method, the 3 upper arms execute a torque calibration by the stop position on the robot housing.

For additional information, refer to the chapter Calibration.

Interface

Output	Data type	Description
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_etDiagExt	ET_DiagExt	POU-specific output for 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

General, library-independent statement on the diagnostic.

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

q_etDiagExt

POU-specific output for 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	CalibrationAlreadyExecuting	55	Calibration is already executing.
ExecutionAborted	MissingProgramCall	32	The program call is unavailable.
ExecutionAborted	RobotIsActive	12	The robot is active.
ExecutionAborted	VirtualDrives	11	The drives are virtual.

CalibrationAlreadyExecuting

Enumeration name:	CalibrationAlreadyExecuting
Enumeration value:	55
Description:	Calibration is already executing.

Call calibration method was unsuccessful

Calibration is already executing.

MissingProgramCall

Enumeration name:	MissingProgramCall
Enumeration value:	32
Description:	The program call is unavailable.

Issue	Cause	Solution
Call calibration method was unsuccessful	The program SR_SlowCyclicExecution is not called in a cyclic task.	Ensure that the program SR_SlowCyclicExecution is called in a cyclic task.

The calibration method was called successfully.

RobotIsActive

Issue	Cause	Solution
Call calibration method was unsuccessful.	Robot is active.	Ensure that the robot is not active while calling calibration method.

VirtualDrives

Issue	Cause	Solution
Call calibration method was unsuccessful.	Calibration method can not be executed with virtual drives.	Ensure that the robot is configured with physical drives.