IF_RobotConfiguration - SchneiderElectricRobot (Method)

Overview

Type:	Method
Available as of:	V1.3.0.0
Versions:	Current version

NOTE: Configuration of a Lexium P Robot requires license points.

License points are only required for library versions earlier than V2.6.1.0. For more information on license points, refer to License Model for PacDrive Software Packages.

Number of license points: 25

License string: ROB.Delta3Ax

The license points are requested during a successful call of the configuration method.

This chapter provides information on:

Task

Initialize a robot of Schneider Electric.

NOTE: This method is not supported by Modicon M262 Motion Controllers.

Description

By calling up the method, the selected robot type is configured.

Interface

Input	Data type	Description
i_ifRobot	IF_SchneiderElectricRobot	Transfer the Schneider Electric robot, for example the Lexium P Robot, by the instance of SER.FB_RobotPSeries.

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 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

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 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	AlreadySuccessfullyCalled	158	It has been already successfully called.
ExecutionAborted	ConfigurationAlreadyCompleted	105	The configuration is already completed.
ExecutionAborted	InitializationFailed	4	The initialization was unsuccessful.
ExecutionAborted	TransformationAlreadyConfigured	106	The transformation is already configured.
InputParameterInvalid	InterfaceInvalid	3	An interface is invalid.
UnexpectedProgramBehavior	InterfaceInvalid	3	An interface is invalid.

AlreadySuccessfullyCalled

Enumeration name:	AlreadySuccessfullyCalled
Enumeration value:	158
Description:	It has been already successfully called.

Issue	Cause	Solution
The configuration of the robot was not successful.	The configuration of the Schneider Electric robot has already been completed. The method SchneiderElectricRobot(...) has already been called up successfully.	Ensure that the configuration method SchneiderElectricRobot() is called only once.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	105
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration of the robot has already been completed. The method ConfigDone(...) has already been called up successfully.	Ensure that no transformation configuration method, for example Delta3Ax(...) or AddAuxAx(...), is called after the configuration has been completed.

InitializationFailed

Enumeration name:	InitializationFailed
Enumeration value:	4
Description:	The initialization was unsuccessful.

Issue	Cause	Solution
The configuration of the robot was not successful.	The initialization of the Schneider Electric robot was not successful.	Verify q_sMsg for details.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	3
Description:	An interface is invalid.

Issue	Cause	Solution
The configuration of the robot was not successful.	No valid interface has been applied at the input i_ifRobot.	A valid interface must be transferred to the input i_ifRobot.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the robot was successful.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	106
Description:	The transformation is already configured.

Issue	Cause	Solution
The configuration of the robot was not successful.	The configuration of the robot transformation has already been completed successfully.	Ensure that a configuration for a transformation is only called once.