IF_AdditionalTransformationTCP - Change (Method)
|
Type |
Method |
|
Available as of: |
V2.6.1.0 |
This chapter provides information on:
oTask
Requesting a change for the AdditionalTransformationTCP.
With the method Change(), a change for the additional transformation TCP (Tool Center Point) can be requested.
A change can be requested for example to realize a tool change.
Send move commands in the next IEC cycle first if the change for the additional transformation TCP was successfully requested. Otherwise the diagnostic message ET_Diag.ExecutionAborted / ET_DiagExt.CommandRefused can occur.
If the change for the additional transformation TCP was successfully requested, the input i_xChange of the method Inverse(…) and/or Direct(…) is set to TRUE for just one call. During this call, the change in both methods must be active.
|
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. |
|
q_stPositionTCP |
Position of TCP. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
Ok |
0 |
Ok |
|
|
ExecutionAborted |
10 |
The command has been denied. |
|
|
52 |
The robot is in motion. |
||
|
79 |
There are active commands. |
||
|
54 |
The robot is not initialized. |
|
Enumeration name: |
CommandRefused |
|
Enumeration value: |
10 |
|
Description: |
The command has been denied. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The request to change the additional transformation TCP was not successful. |
The robot is not active. A change of the additional transformation TCP is not possible. |
Enable the robot first and wait until the robot is active and ready. |
|
Enumeration name: |
CommandsActive |
|
Enumeration value: |
79 |
|
Description: |
There are active commands. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The request to change the additional transformation TCP was not successful. |
The robot is not active. A change of the additional transformation TCP is not possible. |
Enable the robot first and wait until the robot is active and ready. |
|
Enumeration name: |
InMotion |
|
Enumeration value: |
52 |
|
Description: |
The robot is in motion. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The request to change the additional transformation TCP was not successful. |
A motion is active. A change of the additional transformation TCP is not possible. |
Do not call Change(...) while the robot is in motion. |
|
Enumeration name: |
NotInitialized |
|
Enumeration value: |
54 |
|
Description: |
The robot is not initialized. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The request to change the additional transformation TCP was not successful. |
The functionality AdditionalTransformationTCP is not configured and/or initialized. |
Verify that the configuration method IF_RobotConfigurationAdvance.AdditionalTransformationTCP has been called first to configure and initialize the functionality. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
The request to change the additional transformation TCP was successful.
