IF_RobotWarmStart - SetMode (Method)

Overview

Type:	Method
Available as of:	V2.12.1.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Setting the warm start mode of the robot.

Description

With the method SetMode(…), the mode with which a robot warm start is performed can be configured. By default, the warm start mode ET_WarmStartMode.Default is configured.

Interface

Input	Data type	Description
i_etValue	ET_WarmStartMode	Mode to perform a robot warm start.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value not equal to 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 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	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	ModeInvalid	26	The mode is invalid.

ExternalPositionSourceConfigured

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

Issue	Cause	Solution
Configuring the warm start mode was unsuccessful.	An external position source for the robot components cartesian, orientation, and auxiliary axes is configured.	Configuring the warm start mode Default is not possible when an external position source for the robot components is configured. Do not configure the warm start mode Default.

Issue

Cause

Solution

Configuring the warm start mode was unsuccessful.

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

Configuring the warm start mode Default is not possible when an external position source for the robot components is configured.

Do not configure the warm start mode Default.

ModeInvalid

Enumeration name:	ModeInvalid
Enumeration value:	26
Description:	The mode is invalid.

Issue	Cause	Solution
Configuring the warm start mode was unsuccessful.	The value transferred at the input i_etValue is invalid.	Ensure that the value of i_etValue is contained in ET_WarmStartMode.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Configuring the warm start mode was successful.