IF_Configuration - SetEmergencyParameter2 (Method)

Overview

Type:	Method
Available as of:	V2.1.1.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Setting the emergency parameters.

Also refer to Robotic Library Guide / Behavior of SetEmergencyParameter versus SetEmergencyParameter2.

Description

With the method SetEmergencyParameter2(…), the necessary data for an emergency stop must be transferred to the robot.

It is not possible to adjust the motion parameters for an active emergency stop. The adjusted values are applied and used for a later emergency stop, if required.

NOTE: For differences between the methods SetEmergencyParameter and SetEmergencyParameter2, refer to Robotic Library Guide / Using Robotic.

Interface

Input	Data type	Description
i_etComponent	ROB.ET_RobotComponent	Specifies which robot component emergency parameter to set. Valid values are: oROB.ET_RobotComponent.All oROB.ET_RobotComponent.Path oROB.ET_RobotComponent.CartesianAll oROB.ET_RobotComponent.CartesianX oROB.ET_RobotComponent.CartesianY oROB.ET_RobotComponent.CartesianZ oROB.ET_RobotComponent.OrientationAll oROB.ET_RobotComponent.OrientationX oROB.ET_RobotComponent.OrientationY oROB.ET_RobotComponent.OrientationZ oROB.ET_RobotComponent.OrientationX ... Z oROB.ET_RobotComponent.AuxAxAll oROB.ET_RobotComponent.AuxAx1 ... AuxAx10
i_lrMaxDeceleration	LREAL	Specifies the deceleration (change of the velocity per time unit) with which the robot motion should reach a standstill in the case of a falling edge at FB_Robot.xEnable. The specification of the deceleration can be executed again at any time. Unit: [Units/s²] Value range: i_lrMaxDeceleration > 0.0 AND i_lrMaxDeceleration >= appropriate MaxDeceleration set with a method of the interface ROB.IF_RobotMotion or ROB.IF_RobotJogging
i_lrRamp	LREAL	Specifies the ramp (change of the deceleration per time unit) with which the robot motion should reach a standstill in the case of a falling edge at FB_Robot.xEnable. The specification of the ramp can be executed again at any time. Detailed description of the motion parameter Ramp. Unit: [-] Value range: i_lrRamp > 0.0 AND i_lrRamp <= appropriate Ramp set with a method of the interface ROB.IF_RobotMotion or ROB.IF_RobotJogging
i_timRobotStopTimeLimit	TIME	Specifies the maximum time in which the robot must have stopped in case of a detected reaction TPL.ET_Reaction.SyncStopEL or TPL.ET_Reaction.SyncStopEH. Unit: [TIME] Value range: i_timRobotStopTimeLimit > 0 ms

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.

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	AuxiliaryAxisNotConfigured	148	The auxiliary axis is not configured.
InputParameterInvalid	RobotComponentInvalid	144	The robot component is invalid.
InputParameterInvalid	MaxDecelerationRange	32	The maximum deceleration is out of range.
InputParameterInvalid	RampRange	35	The ramp is out of range.
InputParameterInvalid	OrientationNotAvailable	347	The orientation is not available.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	148
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
The motion job was aborted.	The auxiliary axis transferred at the input i_etComponent is not configured.	Ensure that the axis is configured before using an auxiliary axis.

MaxDecelerationRange

Enumeration name:	MaxDecelerationRange
Enumeration value:	32
Description:	The maximum deceleration is out of range.

Issue	Cause	Solution
The configuration of the emergency parameter of the robot was not successful.	The value transferred at the input i_lrMaxDeceleration lies outside the valid range.	At the input i_lrMaxDeceleration, a value greater than 0 must be transferred. At the input i_lrMaxDeceleration, a value greater than MaxDeceleration of motion or jogging parameters must be transferred.

Issue

Cause

Solution

The configuration of the emergency parameter of the robot was not successful.

The value transferred at the input i_lrMaxDeceleration lies outside the valid range.

At the input i_lrMaxDeceleration, a value greater than 0 must be transferred.

At the input i_lrMaxDeceleration, a value greater than MaxDeceleration of motion or jogging parameters must be transferred.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the emergency parameter of the robot was successful.

OrientationNotAvailable

Enumeration name:	OrientationNotAvailable
Enumeration value:	347
Description:	The orientation is not available.

Issue	Cause	Solution
The configuration of the emergency parameter of the robot was not successful.	The orientation transferred at the input i_etComponent is not available.	Ensure that the transformation used supports the orientation.

RampRange

Enumeration name:	RampRange
Enumeration value:	35
Description:	The ramp is out of range.

Issue	Cause	Solution
The configuration of the emergency parameter of the robot was not successful.	The value transferred at the input i_lrRamp lies outside the valid range.	At the input i_lrRamp, a value greater than 0 must be transferred. At the input i_lrRamp, a value smaller than Ramp of motion or jogging parameters must be transferred.

Issue

Cause

Solution

The configuration of the emergency parameter of the robot was not successful.

The value transferred at the input i_lrRamp lies outside the valid range.

At the input i_lrRamp, a value greater than 0 must be transferred.

At the input i_lrRamp, a value smaller than Ramp of motion or jogging parameters must be transferred.

RobotComponentInvalid

Enumeration name:	RobotComponentInvalid
Enumeration value:	144
Description:	The robot component is invalid.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component has been transferred.