IF_RobotPSeries - GetKinematicParameter (Method)
|
Type: |
Method |
|
Available as of: |
V2.8.0.0 |
|
Versions: |
Current version |
This chapter provides information on:
oTask
Read kinematic parameter for a Lexium P Robot.
By calling up the method, the kinematic parameter of a Lexium P Robot can be read.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etName |
Type of kinematic parameter. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_lrValue |
LREAL |
Mass of the selected kinematic parameter [kg]. |
|
q_stCenterOfMass |
PDL.ST_Vectro3D |
Center of mass for the selected kinematic parameter [mm]. |
|
q_etDiag |
General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
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. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
0 |
Ok |
|
|
InputParameterInvalid |
15 |
The kinematic parameter is invalid. |
|
Enumeration name: |
KinematicParameterInvalid |
|
Enumeration value: |
15 |
|
Description: |
The kinematic parameter is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the kinematic parameter was unsuccessful. |
The value transferred at the input i_etName is invalid. |
Ensure that at the input i_etName a valid kinematic parameter has been transferred. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
Reading the kinematic parameter was successful.
