IF_Homing - WritePos (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

oTask

oInterface

oDiagnostic Messages

Task

Selecting the homing by writing the position.

Interface

Input	Data type	Description
i_etComponent	ROB.ET_RobotComponent	Selecting the component for a homing by writing the position. Valid values are: oET_RobotComponent.All oET_RobotComponent.AxisAll oET_RobotComponent.AxisA oET_RobotComponent.AxisB oET_RobotComponent.AxisC oET_RobotComponent.AxisD oET_RobotComponent.AxisE oET_RobotComponent.AxisF oET_RobotComponent.AuxAxAll oET_RobotComponent.AuxAx1 ... AuxAx10
i_lrHomePosition	LREAL	Homing position at the end of the homing.
i_lrAbsEncOffset	LREAL	Absolute value by which the axis position can be reconstructed in the negative range in case of non-periodic applications.

Input

Data type

Description

i_etComponent

ROB.ET_RobotComponent

Selecting the component for a homing by writing the position.

Valid values are:

oET_RobotComponent.All

oET_RobotComponent.AxisAll

oET_RobotComponent.AxisA

oET_RobotComponent.AxisB

oET_RobotComponent.AxisC

oET_RobotComponent.AxisD

oET_RobotComponent.AxisE

oET_RobotComponent.AxisF

oET_RobotComponent.AuxAxAll

oET_RobotComponent.AuxAx1 ... AuxAx10

i_lrHomePosition

LREAL

Homing position at the end of the homing.

i_lrAbsEncOffset

LREAL

Absolute value by which the axis position can be reconstructed in the negative range in case of non-periodic applications.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal 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 unequal 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	RobotComponentInvalid	144	The robot component is invalid.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the homing mode was successful.

RobotComponentInvalid

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

Issue	Cause	Solution
The configuration of the homing mode was not successful.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component has been transferred.