IF_Configuration - GetEmergencyParameter (Method)
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Type: |
Method |
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Available as of: |
V1.0.0.0 |
This chapter provides information on:
oTask
Reading the emergency parameters.
With the method GetEmergencyParameter(…), the configured data for an emergency stop of the robot can be read.
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Output |
Data type |
Description |
|---|---|---|
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q_etDiag |
General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
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q_etDiagExt |
POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message |
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q_sMsg |
STRING[80] |
Event-triggered message that gives additional information on the diagnostic state. |
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q_lrDeceleration |
LREAL |
Parameterized deceleration (change of the velocity per time unit) with which the robot motion comes to a standstill in case of a falling edge at FB_Robot.xEnable. Unit: [Units/s²] |
|
q_lrRamp |
LREAL |
Parameterized ramp (change of the deceleration per time unit) with which the robot motion comes to a standstill in case of a falling edge at FB_Robot.xEnable. Detailed description of the motion parameter "Ramp". Unit: [-] |
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q_timRobotStopTimeLimit |
TIME |
Parameterized maximum time in which the robot must have stopped in case of an exception reaction SynchronStopEh or SynchronStopEl. Unit: [TIME] |
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q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
0 |
Ok |
|
Enumeration name: |
Ok |
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Enumeration value: |
0 |
|
Description: |
Ok |
Reading the configured emergency parameters of the robot was successful.
