IF_RobotWarmStart - Start (Method)

Overview

Type:	Method
Available as of:	V2.12.1.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Starting a warm start motion job.

Description

With the method Start(...), a warm start motion job for a robot component can be started.

Requirements to start a warm start motion job are:

oThe robot must be initialized and ready to operate. (FB_Robot.xEnable , FB_Robot.xActive, and FB_Robot.xReady must be TRUE).

oThe configuration of the robot must have been completed successfully (xConfigDone and xConfigOk must be TRUE).

oThe warm start mode Sequenced must be configured.

oStart cannot be active (FB_Robot.xStart = FALSE).

oWarm start mode must be active (FB_Robot.xWsSelect and FB_Robot.xWsStart must be TRUE).

Calling the method for a robot component which is already on path or the warm start movement is already active has no effect on the present situation. In case of the component is already on path no warm start movement is started. In the case that a warm start movement is already active, the warm start movement is finished.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Robot component for which a warm start motion job has to be started. Valid values are: oET_RobotComponent.All oET_RobotComponent.CartesianAll oET_RobotComponent.CartesianX oET_RobotComponent.CartesianY oET_RobotComponent.CartesianZ oET_RobotComponent.AuxAxAll oET_RobotComponent.AuxAx1 ... AuxAx10 oET_RobotComponent.OrientationAll oET_RobotComponent.OrientationX … OrientationZ For further information, refer to ET_RobotComponent.

Input

Data type

Description

i_etComponent

ET_RobotComponent

Robot component for which a warm start motion job has to be started.

Valid values are:

oET_RobotComponent.All

oET_RobotComponent.CartesianAll

oET_RobotComponent.CartesianX

oET_RobotComponent.CartesianY

oET_RobotComponent.CartesianZ

oET_RobotComponent.AuxAxAll

oET_RobotComponent.AuxAx1 ... AuxAx10

oET_RobotComponent.OrientationAll

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.

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	ModeInvalid	26	The mode is invalid.
InputParameterInvalid	ConfigInvalid	1	The configuration is invalid.
InputParameterInvalid	Disabled	51	Disabled
InputParameterInvalid	JoggingActive	58	Jogging is active.
InputParameterInvalid	MotionParameterInvalid	130	The motion parameters are invalid.
InputParameterInvalid	NotReady	77	The robot is not ready.
InputParameterInvalid	WorkEnvelope	159	Diagnostic message concerning the work envelope is active.
InputParameterInvalid	WarmstartNotAactive	208	The WarmStart is not active.
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
The warm start motion job was aborted.	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
The warm start motion job was aborted.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent, a valid component is transferred.

ConfigInvalid

Enumeration name:	ConfigInvalid
Enumeration value:	1
Description:	The configuration is invalid.

Issue	Cause	Solution
The warm start motion job was aborted.	The robot configuration is invalid.	Call the method ConfigDone(...) to complete the configuration of the robot.

Disabled

Enumeration name:	Disabled
Enumeration value:	51
Description:	Disabled

Issue	Cause	Solution
The warm start motion job was aborted.	FB_Robot.xEnable = FALSE. The robot is not active.	Set FB_Robot.xEnable = TRUE, to enable the robot.

JoggingActive

Enumeration name:	JoggingActive
Enumeration value:	58
Description:	Jogging is active.

Issue	Cause	Solution
The warm start motion job was aborted.	A jogging movement of a robot component is still active.	Ensure that no jogging movement is active.

ModeInvalid

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

Issue	Cause	Solution
The warm start motion job was aborted.	The warm start mode Default is configured.	To start a warm start motion job ensure that the warm start mode Sequenced is configured.

MotionParameterInvalid

Enumeration name:	MotionParameterInvalid
Enumeration value:	130
Description:	The motion parameters are invalid.

Issue	Cause	Solution
The warm start motion job was aborted.	The warm start motion parameters of the robot are invalid.	Ensure that the warm start motion parameters for each ET_RobotComponent that are used are valid.

NotReady

Enumeration name:	NotReady
Enumeration value:	77
Description:	The robot is not ready.

Issue	Cause	Solution
The warm start motion job was aborted.	The robot is not ready.	Ensure that the configuration of the robot is finished, the robot is enabled and all drives are ready.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The warm start motion job was transferred successfully.

OrientationNotAvailable

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

Issue	Cause	Solution
The warm start motion job was aborted.	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.

WarmStartNotActive

Enumeration name:	WarmStartNotActive
Enumeration value:	208
Description:	The WarmStart is not active.

Issue	Cause	Solution
The warm start motion job was aborted.	The warm start mode of the robot is not active.	The warm start mode of the robot can be only activated by setting FB_Robot.xWsSelect and FB_Robot.xWsStart to TRUE, after the robot was disabled.

WorkEnvelope

Enumeration name:	WorkEnvelope
Enumeration value:	159
Description:	Diagnostic message concerning the work envelope is active.

Issue	Cause	Solution
The warm start motion job was aborted.	The TCP position of the robot is outside of the valid work envelope.	Bring the robots TCP position back to the valid work envelope.