IF_RobotWarmStart - GetMotionParameter (Method)

Overview

Type:	Method
Available as of:	V2.12.1.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Reading the warm start motion parameters.

Description

With the method GetMotionParameter(...), the warm start motion parameters can be read.

The parameters are:

oMaximum velocity (change of the position per time unit)

oMaximum acceleration (change of the velocity per time unit)

oMaximum deceleration (change of the velocity per time unit)

oRamp (change of the acceleration/deceleration per time unit) with which the warm start motion of each component of the robot has to be executed.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Specifies for which robot components the motion parameters have to be read. Valid values are: oET_RobotComponent.Path oET_RobotComponent.CartesianX oET_RobotComponent.CartesianY oET_RobotComponent.CartesianZ oET_RobotComponent.AuxAx1 ... AuxAx10 oET_RobotComponent.OrientationX … OrientationZ For further information, refer to ET_RobotComponent.

Input

Data type

Description

i_etComponent

ET_RobotComponent

Specifies for which robot components the motion parameters have to be read.

Valid values are:

oET_RobotComponent.Path

oET_RobotComponent.CartesianX

oET_RobotComponent.CartesianY

oET_RobotComponent.CartesianZ

oET_RobotComponent.AuxAx1 ... AuxAx10

oET_RobotComponent.OrientationX … OrientationZ

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 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.
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). Detailed description of the motion parameter Ramp.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
Ok	Ok	0	Ok
ExecutionAborted	ModeInvalid	26	The mode is invalid.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	AuxiliaryAxisNotConfigured	127	The auxiliary axis 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 warm start 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
Reading the warm start motion parameters was unsuccessful.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent, a valid component is transferred.

ModeInvalid

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

Issue	Cause	Solution
Reading the warm start motion parameters was unsuccessful.	The warm start mode Default is configured.	To set warm start motion parameters, ensure that the warm start mode Sequenced is configured.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Reading the warm start motion parameters was successful.

OrientationNotAvailable

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

Issue	Cause	Solution
Reading the warm start motion parameters was unsuccessful.	The value transferred at the input i_etComponent corresponds to an orientation that is not available.	Ensure that the orientation is supported by the configured transformation of the robot.