FB_RoboticsAutoTunePSeries - WriteFile (Method)

Overview

Type:	Method
Available as of:	V2.0.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Write a file to the file system of the controller which includes the status of tuning, the configuration and parameterization of RoboticsAutoTune.

Description

With the method WriteFile(…), a file with the specified name is written on the specified directory.

If only the file name is given, the path ide0:/ and the file name extension .DAT is added automatically.

If the file does not exist, it is created. If the file exists, the content is deleted and replaced.

Valid example names:

oExample -> the file ide0:/Example.DAT is written to ide0:

oide0:/Example.DAT -> the file ide0:/Example.DAT is written to ide0:

ousb2msd:1/Example.DAT -> the file usb2msd:1/Example.DAT is written to an USB device.

Valid but not a good practice:

oExample.DAT would result in writing the file ide0:/Example.DAT.DAT

NOTE: The processing time of this function is a few hundred milliseconds. Therefore, it is a good practice that the call of this method is done in a dedicated file handling task, or that the cycle check of the task is increased with the function FC_CycleCheckTimeSet(…) when calling this method.

Interface

Input	Data type	Description
i_sFileName	STRING[255]	File name of the file to be written.
i_xWriteAdditionalData	BOOL	Additional data that is written into the file.

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[255]	Event-triggered message that gives more detailed 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[255]

Event-triggered message that gives more detailed information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
OK	AdditionalDataRange	37	Size of additional data slots is invalid.
ExecutionAborted	NotConfigured	33	The robot is not configured.
	TooManyFilesOpen	45	Too many files open.
	WriteException	51	Attempt to write to an invalid file type.
ControllerConditionInvalid	SystemOutOfMemory	50	Not enough space to save the file.
UnexpectedProgramBehavior	UnexpectedFeedback	1	A feedback value was invalid.

AdditionalDataRange

Enumeration name:	AdditionalDataRange
Enumeration value:	37
Description:	Size of additional data slots is invalid.

Issue	Cause	Solution
Writing of the file was successful.	i_xWriteAdditionalData was set to TRUE but either the property xEnableAdditionalData is not set to TRUE or GPL.Gc_udiMaxNumberOfAdditionalData is zero.	oDo not set i_xWriteAdditionalData in case no additional data is used. oEnable the usage of additional data and set GPL.Gc_udiMaxNumberOfAdditionalData to a value greater than 0.

Issue

Cause

Solution

Writing of the file was successful.

i_xWriteAdditionalData was set to TRUE but either the property xEnableAdditionalData is not set to TRUE or GPL.Gc_udiMaxNumberOfAdditionalData is zero.

oDo not set i_xWriteAdditionalData in case no additional data is used.

oEnable the usage of additional data and set GPL.Gc_udiMaxNumberOfAdditionalData to a value greater than 0.

NotConfigured

Enumeration name:	NotConfigured
Enumeration value:	33
Description:	The robot is not configured.

Issue	Cause	Solution
Configuration is not valid.	Not configured. Call method Configuration first	Verify that the method Configuration is called successfully.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Writing of the file was successful.

SystemOutOfMemory

Enumeration name:	SystemOutOfMemory
Enumeration value:	50
Description:	Not enough space to save the file.

Issue	Cause	Solution
System out of memory.	Not enough memory space to save the file.	Provide free memory space to save the file.

TooManyFilesOpen

Enumeration name:	TooManyFilesOpen
Enumeration value:	45
Description:	Too many files open.

Issue	Cause	Solution
Too many files opened.	Too many files opened.	Close opened files.

WriteException

Enumeration name:	WriteException
Enumeration value:	51
Description:	Attempt to write to an invalid file type.

Issue	Cause	Solution
Write exception.	Device invalid.	Choose another device.
Write exception.	File name invalid.	Choose another file name.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	1
Description:	A feedback value was invalid.

Writing the file was unsuccessful.