IF_RobotMotion - GetStopOnPath (Method)

Overview

Type:	Method
Available as of:	V2.3.1.0

This chapter provides information on:

Task

Reading the parameters of a stop-on-path.

Description

With the method GetStopOnPath(…), the parameters of a stop-on-path sent to the robot can be read.

The following criteria must be met in order to be able to read the parameters of a stop-on-path:

oThe transferred stop command must have been sent to the robot and must be active.

Interface

Input	Data type	Description
i_udiStopId	UDINT	Unique ID of the stop command of which parameters are read. This unique ID is returned by the method SetStopOnPath(…).

Input

Data type

Description

i_udiStopId

UDINT

Unique ID of the stop command of which parameters are read.

This unique ID is returned by the method SetStopOnPath(…).

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_udiStopSegmentId	UDINT	ID of the segment the robot stops in.
q_lrStopOffset	LREAL	Position, where the robot stops inside the segment q_udiStopSegmentId. Positive values of q_lrStopOffset refer to the beginning of the segment, and negative values refer to its end. The value 0.0 stops the robot at the beginning of the segment.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	StopIdNotFound	192	The stop Id was not found.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	StopIdRange	191	The stop Id is out of range.

Reading the parameters of a stop-on-path was successful.

ExternalPositionSourceConfigured

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

Issue	Cause	Solution
Reading the parameters of a stop-on-path was aborted.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Reading the parameters of a stop-on-path is not possible when an external position source for the robot components is configured. Do not read the parameters of a stop-on-path.

Issue

Cause

Solution

Reading the parameters of a stop-on-path was aborted.

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

Reading the parameters of a stop-on-path is not possible when an external position source for the robot components is configured.

Do not read the parameters of a stop-on-path.

StopIdNotFound

Issue	Cause	Solution
Reading the parameters of a stop-on-path was aborted.	The given stop ID does not exist.	Ensure that the stop with the given Id was sent to the robot and is still active.

NOTE: This is not an exception. The method could be used to verify if a stop command is still active.

StopIdRange

Issue	Cause	Solution
Reading the parameters of a stop-on-path was aborted.	The value transferred at the input i_udiStopId lies outside the valid range.	At the input i_udiStopId, a value greater than 0 and less than 100 must be transferred.