IF_RobotConfiguration - GetEmergencyParameter2 (Method)

Overview

Type:	Method
Available as of:	V2.1.1.0

This chapter provides information on:

Task

Reading the emergency parameters of a specific component.

Description

With the method GetEmergencyParameter2(…), the configured data for an emergency stop of a specific robotic component can be read.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Specifies which robot component emergency parameter to read. Valid values are: oET_RobotComponent.Path oET_RobotComponent.CartesianX oET_RobotComponent.CartesianY oET_RobotComponent.CartesianZ oET_RobotComponent.OrientationAll oET_RobotComponent.OrientationX oET_RobotComponent.OrientationY oET_RobotComponent.OrientationZ oET_RobotComponent.AuxAx1 ... AuxAx10 For further information, refer to ET_RobotComponent.

Input

Data type

Description

i_etComponent

Specifies which robot component emergency parameter to read.

Valid values are:

oET_RobotComponent.Path

oET_RobotComponent.CartesianX

oET_RobotComponent.CartesianY

oET_RobotComponent.CartesianZ

oET_RobotComponent.OrientationAll

oET_RobotComponent.OrientationX

oET_RobotComponent.OrientationY

oET_RobotComponent.OrientationZ

oET_RobotComponent.AuxAx1 ... AuxAx10

For further information, refer to ET_RobotComponent.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal 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 additional information on the diagnostic state.
q_lrMaxDeceleration	LREAL	Parameterized deceleration (change of the velocity per time unit) with which the robot motion comes to a standstill in the case of a falling edge at FB_Robot.xEnable. Unit: [Units/s²]
q_lrRamp	LREAL	Parameterized ramp (change of the deceleration per time unit) with which the robot motion comes to a standstill in the case of a falling edge at FB_Robot.xEnable. Detailed description of the motion parameter "Ramp". Unit: [-]

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	AuxiliaryAxisNotConfigured	127	The auxiliary axis is not configured.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	127
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
The motion job was aborted.	The auxiliary axis transferred at the input i_etComponent is not configured.	Ensure that the axis is configured before using an auxiliary axis.

ComponentInvalid

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component has been transferred.

The configuration of the emergency parameter of the robot was successful.