SR_<Robot S-Series Name> - SetPositionLimitAxis (Method)

Overview

Type:	Method
Available as of:	V1.0.1.0

This chapter provides information on:

Functional Description

By calling the method, the valid range of the axis of a Robot S-Series can be adapted.

To disable the functionality:

oThe values can be set to the default values (see hardware manual).

oThe values can be set to values greater than the default values.

oThe values can be set to i_lrMinValue = i_lrMaxValue = 0.0.

Interface

Input	Data type	Description
i_etComponent	SER.ET_RobotSSeriesComponent	Component of the Robot S-Series.
i_lrMinValue	LREAL	Minimum limit for the valid range of an axis.
I_lrMaxValue	LREAL	Maximum limit for the valid range of an axis.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message that gives more detailed information on the diagnostic state.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = GD.ET_Diag.Ok -> Status message

q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

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

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Plain text
Ok	Ok	0	Ok
InputParameterInvalid	ParameterOutOfRange	30	The parameter is out of range.
InputParameterInvalid	RobotSSeriesComponentInvalid	94	The Robot S-Series component is invalid.

Method was called successfully.

ParameterOutOfRange

Issue	Cause	Solution
The request to change the limits of an axis was not successful.	The value transferred at the input i_lrMinValue is greater than or equal to the value transferred at the input i_lrMaxValue.	Ensure that the value transferred at the input i_lrMaxValue is greater than the value transferred at the input i_lrMinValue.

RobotSSeriesComponentInvalid

Enumeration name:	RobotSSeriesComponentInvalid
Enumeration value:	94
Plain text:	The Robot S-Series component is invalid.

Issue	Cause	Solution
The request to change the limits of an axis was not successful.	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.