IF_RobotMotion - SetMotionParameter (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Setting the motion parameters.

Description

With the method SetMotionParameter(...), the maximum velocity (change of the position per time unit), the maximum acceleration (change of the velocity per time unit), the maximum deceleration (change of the velocity per time unit) as well as the ramp (change of the acceleration/deceleration per time unit) with which the path motion of the robot or the motion of an auxiliary axis has to be executed can be determined.

The specification of the maximum values of the motion commands:

oCan be executed again at any time.

oApplies to all motion commands following thereafter (MoveL, MoveC, ...).

The specification of the maximum values of the jogging motion parameters can also be executed individually with the methods SetMaxVelocity(…), SetMaxAcceleration(…), SetMaxDeceleration(…) and SetRamp(…).

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Specifies from which part of the robot that the motion parameters are to be set. Valid values are: oET_RobotComponent.All oET_RobotComponent.Path oET_RobotComponent.OrientationAll oET_RobotComponent.OrientationX oET_RobotComponent.OrientationY oET_RobotComponent.OrientationZ oET_RobotComponent.AuxAxAll oET_RobotComponent.AuxAx1 ... AuxAx10 oET_RobotComponent.CartesianAll oET_RobotComponent.CartesianX oET_RobotComponent.CartesianY oET_RobotComponent.CartesianZ For further information, refer to ET_RobotComponent.
i_lrMaxVelocity	LREAL	Specifies the maximum velocity (change of the position per time unit). Unit: [Units/s] Value range: i_lrMaxVelocity > 0.0
i_lrMaxAcceleration	LREAL	Specifies the maximum acceleration (change of the velocity per time unit). Unit: [Units/s2] Value range: i_lrMaxAcceleration > 0.0
i_lrMaxDeceleration	LREAL	Specifies the maximum deceleration (change of the velocity per time unit). Unit: [Units/s2] Value range: i_lrMaxDeceleration > 0.0 AND i_lrMaxDeceleration <= Emergency MaxDeceleration set with the method IF_RobotConfiguration.SetEmergencyParameter Special case: MaxDeceleration = 0.0 -> In this case MaxDeceleration is set to MaxAcceleration in the motion commands following thereafter.
i_lrRamp	LREAL	Specifies the ramp (change of the acceleration/deceleration per time unit). Detailed description of the motion parameter Ramp. Unit: [-] Value range: i_lrRamp > 0.0 AND i_lrRamp >= Emergency ramp set with the method IF_RobotConfiguration.SetEmergencyParameter

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 = 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 on 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	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	AuxiliaryAxisNotConfigured	127	The auxiliary axis is not configured.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	MaxAccelerationRange	125	The maximum acceleration is out of range.
InputParameterInvalid	MaxDecelerationRange	126	The maximum deceleration is out of range.
InputParameterInvalid	MaxVelocityRange	124	The maximum velocity is out of range.
InputParameterInvalid	RampRange	20	The ramp is out of range.
InputParameterInvalid	OrientationNotAvailable	199	The orientation is not available.
InputParameterInvalid	ComponentNotConfigured	198	The component is not configured.

AuxiliaryAxisNotConfigured

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

Issue	Cause	Solution
Setting the motion parameters was unsuccessful.	The value transferred at the input i_etComponent corresponds to no configured auxiliary axis.	Ensure that the axis is configured before using an auxiliary axis.

ComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	132
Description:	The component is invalid.

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

ComponentNotConfigured

Enumeration name:	ComponentNotConfigured
Enumeration value:	198
Description:	The component is not configured.

Issue	Cause	Solution
Setting the motion parameters was unsuccessful.	The value transferred at the input i_etComponent is not configured.	Ensure that at the input i_etComponent a configured component has been transferred.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
Setting the motion parameter was unsuccessful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Setting the motion parameter for the component Path is not possible when an external position source for the robot components is configured. Do not set the motion parameter for the component Path.

Issue

Cause

Solution

Setting the motion parameter was unsuccessful.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

Setting the motion parameter for the component Path is not possible when an external position source for the robot components is configured.

Do not set the motion parameter for the component Path.

MaxAccelerationRange

Enumeration name:	MaxAccelerationRange
Enumeration value:	125
Description:	The maximum acceleration is out of range.

Issue	Cause	Solution
Setting the motion parameters was unsuccessful.	The value transferred at the input i_lrMaxAcceleration lies outside the valid range.	At the input i_lrMaxAcceleration, a value greater than 0 must be transferred.

MaxDecelerationRange

Enumeration name:	MaxDecelerationRange
Enumeration value:	126
Description:	The maximum deceleration is out of range.

Issue	Cause	Solution
Setting the motion parameter was unsuccessful.	The value transferred at the input i_lrMaxDeceleration lies outside the valid range.	At the input i_lrMaxDeceleration, a value greater than 0 must be transferred. At the input i_lrMaxDeceleration, a value less than or equal to MaxEmergencyDeceleration must be transferred.

Issue

Cause

Solution

Setting the motion parameter was unsuccessful.

The value transferred at the input i_lrMaxDeceleration lies outside the valid range.

At the input i_lrMaxDeceleration, a value greater than 0 must be transferred.

At the input i_lrMaxDeceleration, a value less than or equal to MaxEmergencyDeceleration must be transferred.

MaxVelocityRange

Enumeration name:	MaxVelocityRange
Enumeration value:	124
Description:	The maximum velocity is out of range.

Issue	Cause	Solution
Setting the motion parameters was unsuccessful.	The value transferred at the input i_IrMaxVelocity lies outside the valid range.	At the input i_IrMaxVelocity, a value greater than 0 must be transferred.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The motion parameters have been set successfully.

OrientationNotAvailable

Enumeration name:	OrientationNotAvailable
Enumeration value:	199
Description:	The orientation is not available.

Issue	Cause	Solution
Setting the motion parameters was unsuccessful.	The orientation transferred at the input i_etComponent is not available.	Ensure that the transformation used supports the orientation.

RampRange

Enumeration name:	RampRange
Enumeration value:	20
Description:	The ramp is out of range.

Issue	Cause	Solution
Setting the motion parameters was unsuccessful.	The value transferred at the input i_lrRamp lies outside the valid range.	At the input i_lrRamp, a value greater than 0 must be transferred. At the input i_lrRamp, a value less than EmergencyRamp must be transferred.

Issue

Cause

Solution

Setting the motion parameters was unsuccessful.

The value transferred at the input i_lrRamp lies outside the valid range.

At the input i_lrRamp, a value greater than 0 must be transferred.

At the input i_lrRamp, a value less than EmergencyRamp must be transferred.