IF_ConfigurationAdvanced - ExtendConnectedPath (Method)

Overview

Type:	Method
Available as of:	V2.1.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Allowing to add more than 100 segments to a connected path.

Description

There is a maximum number of linear segments, circular segments, spline segments, zone segments, and connected paths defined.

For applications with more than 100 segments describing bent paths, this can provoke the diagnostic messages ET_DiagExt.NoMoreSegmentsAvailable, ET_DiagExt.NoMoreZonesAvailable or ET_DiagExt.NoMoreConnectedPathsAvailable.

Therefore, a segment buffer is implemented to be able to add more than 100 segments to a connected path. In this buffer, already executed segments are deleted.

To be able to, for example, to stop on the path and jog backwards, the minimum number of segments that have to be available for jogging backwards can be defined (i_udiMinAvailableSegments).

The feature can be configured at any time by calling this method, independent of IF_Configuration.xConfigDone.

The feature can be configured only once. It cannot be reconfigured after it has been configured successfully.

Interface

Input	Data type	Description
i_udiMinAvailableSegments	UDINT	Minimum number of segments that have to be available (for example for jogging backwards). Value range: 1...99

Input

Data type

Description

i_udiMinAvailableSegments

UDINT

Minimum number of segments that have to be available (for example for jogging backwards).

Value range: 1...99

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
ExecutionAborted	AlreadyConfigured	323	The feature is already configured.
ExecutionAborted	ExternalPositionSourceConfigured	357	The external position source is configured.
InputParameterInvalid	MinAvailableSegmentsRange	324	The feature was not configured successfully.

AlreadyConfigured

Enumeration name:	AlreadyConfigured
Enumeration value:	323
Description:	The feature is already configured.

The feature can be configured only once. It cannot be reconfigured after it has been configured successfully.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	357
Description:	The external position source is configured.

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

Issue

Cause

Solution

Configuring the feature was unsuccessful.

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

Configuring the feature is not possible when an external position source for the robot components is configured.

Do not configure the feature.

MinAvailableSegmentsRange

Enumeration name:	MinAvailableSegmentsRange
Enumeration value:	324
Description:	The feature was not configured successfully.

Issue	Cause	Solution
-	The value transferred to input i_udiMinAvailableSegments is outside the valid range.	At the input i_udiMinAvailableSegments, a value in the range of 0 to 99 must be transferred.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The feature was configured successfully.