IF_RobotMotion - GetMotionParameter (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Reading the motion parameters.

Description

With the method GetMotionParameter(...), the configured 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 read.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Specifies from which part of the robot that the motion parameter are to be read. Valid values are: oET_RobotComponent.Path oET_RobotComponent.OrientationX oET_RobotComponent.OrientationY oET_RobotComponent.OrientationZ oET_RobotComponent.AuxAx1 ... AuxAx10 o ET_RobotComponent.CartesianX o ET_RobotComponent.CartesianY o ET_RobotComponent.CartesianZ For further information, refer to ET_RobotComponent .

Input

Data type

Description

i_etComponent

ET_RobotComponent

Specifies from which part of the robot that the motion parameter are to be read.

Valid values are:

oET_RobotComponent.Path

oET_RobotComponent.OrientationX

oET_RobotComponent.OrientationY

oET_RobotComponent.OrientationZ

oET_RobotComponent.AuxAx1 ... AuxAx10

o ET_RobotComponent.CartesianX

o ET_RobotComponent.CartesianY

o ET_RobotComponent.CartesianZ

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 = 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_lrMaxVelocity	LREAL	Specified maximum velocity (change of the position per time unit).
q_lrMaxAcceleration	LREAL	Specified maximum acceleration (change of the velocity per time unit).
q_lrMaxDeceleration	LREAL	Specified maximum deceleration (change of the velocity per time unit).
q_lrRamp	LREAL	Specified ramp (change of the acceleration/deceleration per time unit).

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	ComponentNotConfigured	198	The component is not configured.
InputParameterInvalid	OrientationNotAvailable	199	The orientation is not available.

AuxiliaryAxisNotConfigured

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

Issue	Cause	Solution
Reading the motion parameters was not successful.	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
Reading the motion parameters was not successful.	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
Reading the motion parameters was not successful.	The component 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
Reading the motion parameters was not successful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Reading the motion parameters for the component Path is not possible when an external position source for the robot components is configured. Do not read the motion parameters for the component Path.

Issue

Cause

Solution

Reading the motion parameters was not successful.

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

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

Do not read the motion parameters for the component Path.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The motion parameters have been read successfully.

OrientationNotAvailable

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

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