IF_RobotPSeriesCalibration - General Information

Overview

Type:	Interface
Available as of:	V1.0.0.0
Inherits from:	-

This chapter provides information on:

oTask

Task

Interface to execute the calibration for a Lexium P Robot.

Description

The interface contains methods and properties to execute the calibration for a Lexium P Robot.

Methods must not be called cyclically.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	CalibrationDone	45	The calibration is done.
OK	CalibrationModeSelected	46	The calibration mode has been selected.
OK	Disabled	6	Disabled.
OK	Initializing	7	Initializing.
OK	WaitUntilDisabled	8	Wait Until Disabled.
ControllerConditionInvalid	ControllerInvalid	34	The controller is invalid.
ControllerConditionInvalid	SercosInterfaceInvalid	35	The SERCOS interface is invalid.
DriveConditionInvalid	DriveEncoderInvalid	36	The DriveEncoder is invalid.
DriveConditionInvalid	DriveIsMoving	37	The drive is moving.
DriveConditionInvalid	DriveNotDisabled	38	The drive is not disabled.
DriveConditionInvalid	DriveNotReady	33	The drive is not ready to execute calibration.
DriveConditionInvalid	NoAccessToEEPROM	39	No access to DriveEncoder data.
DriveConditionInvalid	ProgrammingInProgress	40	Programming is in progress.
DriveConditionInvalid	ProgrammingInvalidEEPROM	41	An exception occured while writing on the encoder data.
DriveConditionInvalid	RestoreInterrupted	42	Restoring the encoder position was interrupted.
HomingFailed	MaxTorqueNotFound	43	MaxTorque has not been found.
SercosConditionInvalid	SercosNotInPhaseFour	44	The SERCOS-Bus is not in phase 4.
UnexpectedProgramBehavior	CalibrationFbNotReady	56	The calibration FunctionBlock is not ready.
UnexpectedProgramBehavior	UnexpectedFeedback	9	The Feedback is incorrect.

CalibrationDone

Enumeration name:	CalibrationDone
Enumeration value:	45
Description:	The calibration is done.

Calibration has been completed.

CalibrationFbNotReady

Enumeration name:	CalibrationFbNotReady
Enumeration value:	56
Description:	The calibration FunctionBlock is not ready.

The calibration FunctionBlock is not ready to execute commands.

CalibrationModeSelected

Enumeration name:	CalibrationModeSelected
Enumeration value:	46
Description:	The calibration mode has been selected.

A calibration has been selected.

ControllerInvalid

Enumeration name:	ControllerInvalid
Enumeration value:	34
Description:	The controller is invalid.

The controller does not provide the required conditions for HomeOnTorque.

Disabled

Enumeration name:	Disabled
Enumeration value:	6
Description:	Disabled.

Calibration mode is disabled.

DriveEncoderInvalid

Enumeration name:	DriveEncoderInvalid
Enumeration value:	36
Description:	The DriveEncoder is invalid.

Issue	Cause	Solution
Calibration mode was unsuccessful.	The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected. But the axis encoder is not supported.	The EncoderRange parameter of the axis must be greater than 0.

Issue

Cause

Solution

Calibration mode was unsuccessful.

The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected.

But the axis encoder is not supported.

The EncoderRange parameter of the axis must be greater than 0.

DriveIsMoving

Enumeration name:	DriveIsMoving
Enumeration value:	37
Description:	The drive is moving.

Issue	Cause	Solution
Calibration mode was unsuccessful.	The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected. The axis moved while the encoder position was written.	To write the encoder position of the axis it must be at standstill. Check the state and the mechanical forces of the axis.

Issue

Cause

Solution

Calibration mode was unsuccessful.

The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected.

The axis moved while the encoder position was written.

To write the encoder position of the axis it must be at standstill.

Check the state and the mechanical forces of the axis.

DriveNotDisabled

Enumeration name:	DriveNotDisabled
Enumeration value:	38
Description:	The drive is not disabled.

Issue	Cause	Solution
Calibration mode was unsuccessful.	The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected. The axis is not in AxisState 1.	To write the encoder position of the axis it must be in AxisState 1. Check the axis state.

Issue

Cause

Solution

Calibration mode was unsuccessful.

The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected.

The axis is not in AxisState 1.

To write the encoder position of the axis it must be in AxisState 1.

Check the axis state.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	33
Description:	The drive is not ready to execute calibration.

Issue	Cause	Solution
-	A configured drive of the robot is not ready.	Ensure that all configured drives of the robot are ready.

Initializing

Enumeration name:	Initializing
Enumeration value:	7
Description:	Initializing.

Calibration is initializing.

MaxTorqueNotFound

Enumeration name:	MaxTorqueNotFound
Enumeration value:	43
Description:	MaxTorque has not been found.

Issue	Cause	Solution
Calibration mode was unsuccessful.	The calibration mode StandardProcedure or OnTorque has been selected. The torque position has not been found.	Ensure that the upper arms of the robot are mounted.

Issue

Cause

Solution

Calibration mode was unsuccessful.

The calibration mode StandardProcedure or OnTorque has been selected.

The torque position has not been found.

Ensure that the upper arms of the robot are mounted.

NoAccessToEEPROM

Enumeration name:	NoAccessToEEPROM
Enumeration value:	39
Description:	No access to DriveEncoder data.

Issue	Cause	Solution
Calibration mode was unsuccessful.	The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected. The access to the axis encoder has been denied.	Check if the axis encoder is working properly. Check the axis state.

Issue

Cause

Solution

Calibration mode was unsuccessful.

The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected.

The access to the axis encoder has been denied.

Check if the axis encoder is working properly.

Check the axis state.

ProgrammingInProgress

Enumeration name:	ProgrammingInProgress
Enumeration value:	40
Description:	Programming is in progress.

Writing is being performed on the encoder.

ProgrammingInvalidEEPROM

Enumeration name:	ProgrammingInvalidEEPROM
Enumeration value:	41
Description:	An exception occured while writing on the encoder data.

Issue	Cause	Solution
Calibration mode was unsuccessful.	The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected. Writing is already being performed on the axis encoder.	Ensure that no other writing on the axis encoder is active.

Issue

Cause

Solution

Calibration mode was unsuccessful.

The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected.

Writing is already being performed on the axis encoder.

Ensure that no other writing on the axis encoder is active.

RestoreInterrupted

Enumeration name:	RestoreInterrupted
Enumeration value:	42
Description:	Restoring the encoder position was interrupted.

Issue	Cause	Solution
Calibration mode was unsuccessful.	The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected. Reading the encoder has been interrupted repeatedly by the Sercos.	Check your task configuration. Ensure that the Sercos task interrupts the execution of the module only once, while reading the encoder.

Issue

Cause

Solution

Calibration mode was unsuccessful.

The calibration mode StandardProcedure or WriteEncoderRotationalAxis has been selected.

Reading the encoder has been interrupted repeatedly by the Sercos.

Check your task configuration.

Ensure that the Sercos task interrupts the execution of the module only once, while reading the encoder.

SercosInterfaceInvalid

Enumeration name:	SercosInterfaceInvalid
Enumeration value:	35
Description:	The SERCOS interface is invalid.

Issue	Cause	Solution
-	The global Sercos interface SystemConfiguration.G_ifSercos is invalid.	Ensure that the global Sercos interface SystemConfiguration.G_ifSercos is not overwritten with 0.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	44
Description:	The SERCOS-Bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the Sercos bus is not 4.	Set the Sercos bus parameter PhaseSet to 4. Check the Sercos bus for exceptions.

Issue

Cause

Solution

The parameter State of the Sercos bus is not 4.

Set the Sercos bus parameter PhaseSet to 4.

Check the Sercos bus for exceptions.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	9
Description:	The Feedback is incorrect.

Executing the selected calibration mode was unsuccessful.

WaitUntilDisabled

Enumeration name:	WaitUntilDisabled
Enumeration value:	8
Description:	Wait Until Disabled.

Wait until calibration is disabled.

Methods

Name	Description
BrakeRelease	Method to select which brakes of the robot axes shall be opened.
MoveToCheckPosition	Axes of the robot move to a specific position to verify whether the robot is calibrated correctly.
MoveToMountPosition	Axes of the robot move to a specific position to mount the lower arms and the parallel plate.
OnTorque	Axes of the robot move one after another to their stop positions on the robot housing.
StandardProcedure	Execute the procedure OnTorque and MoveToCheckPosition.
Stop	Stops the ongoing calibration mode.
WriteEncoderRotationalAxis	Write encoder of the rotational axis.

Properties

Name	Data type	Accessing	Description
etDiag	GD.ET_Diag	Read	General library-independent statement of the diagnostic. A value unequal to GD.ET_Diag.Ok corresonds to a diagnostic message.
etDiagExt	ET_DiagExt	Read	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message
sMsg	STRING[80]	Read	Event-triggered message that gives more detailed information on the diagnostic state.
xDiagQuit	BOOL	Read/Write	A rising edge FALSE->TRUE acknowledges diagnostic messages.
xDone	BOOL	Read	A calibration mode has been executed successfully.