FB_RoboticsAutoTunePSeries - GetMotionParameterByIndex (Method)
|
Type: |
Method |
|
Available as of: |
V2.0.0.0 |
This chapter provides information on:
oTask
Read the acceleration, deceleration, status, and additional data for a specific movement by index.
With the method GetMotionParameterByIndex (…), the motion parameters for a specific movement can be read. This function is not necessary for tuning but for informal purpose only.
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Input |
Data type |
Description |
|---|---|---|
|
i_udiMoveId |
UDINT |
ID of the movement. |
|
i_udiStartRadiusIndex |
UDINT |
Radius index of the start position. |
|
i_udiStartAngleIndex |
UDINT |
Angle index of the start position. |
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i_udiStartHeightIndex |
UDINT |
Height index of the start position. |
|
i_udiTargetRadiusIndex |
UDINT |
Radius index of the target position. |
|
i_udiTargetAngleIndex |
UDINT |
Angle index of the target position. |
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i_udiTargetHeightIndex |
UDINT |
Height index of the target position. |
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Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
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 |
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q_sMsg |
STRING[255] |
Event-triggered message that gives more detailed information on the diagnostic state. |
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q_lrMaxAcceleration |
LREAL |
Present maximum acceleration for this movement. |
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q_lrMaxDeceleration |
LREAL |
Present maximum deceleration for this movement. |
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q_stStatus |
Present status of this movement. |
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q_stAdditionalData |
Additional data for this movement. This structure is only valid if the property xEnableAdditionalData is set to TRUE. The structure contains information for debugging or in-depth analysis. |
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q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
0 |
Ok |
|
|
ExecutionAborted |
33 |
The robot is not configured. |
|
|
InputParameterInvalid |
3 |
Angle is out of range. |
|
|
5 |
Height is out of range. |
||
|
2 |
Move ID is out of range. |
||
|
4 |
Radius is out of range. |
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Enumeration name: |
AngleRange |
|
Enumeration value: |
3 |
|
Description: |
Angle is out of range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The angle index for the start and/or the target position is out of range. |
i_udiStartAngleIndex is 0 or greater than GPL.Gc_udiNumberOfRadiusSteps. |
Verify that i_udiStartAngleIndex is greater than 0 and less or equal to GPL.Gc_udiNumberOfAngleSteps, and adjust if necessary. |
|
i_udiTargetAngleIndex is 0 or greater than GPL.Gc_udiNumberOfRadiusSteps. |
Verify that i_udiTargetAngleIndex is greater than 0 and less or equal to GPL.Gc_udiNumberOfAngleSteps, and adjust if necessary. |
|
Enumeration name: |
HeightRange |
|
Enumeration value: |
5 |
|
Description: |
Height is out of range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The height index for the start and/or the target position is out of range. |
i_udiStartHeightIndex is 0 or greater than GPL.Gc_udiNumberOfHeightSteps. |
Verify that i_udiStartHeightIndex is greater than 0 and less or equal to GPL.Gc_udiNumberOfHeightSteps, and adjust if necessary. |
|
i_udiTargetHeightIndex is 0 or greater than GPL.Gc_udiNumberOfHeightSteps. |
Verify that i_udiTargetHeightIndex is greater than 0 and less or equal to GPL.Gc_udiNumberOfHeightSteps, and adjust if necessary. |
|
Enumeration name: |
MoveIdRange |
|
Enumeration value: |
2 |
|
Description: |
Move ID is out of range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The move ID is out of range. |
i_udiMoveId is less or equal to 0 or greater than GPL.Gc_udiNumberOfMoveIds. |
Verify that the value of i_udiMoveId is greater than 0 and less or equal to GPL.Gc_udiNumberOfMoveIds, and adjust if necessary. |
|
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 |
Getting the motion parameter by index was successful.
|
Enumeration name: |
RadiusRange |
|
Enumeration value: |
4 |
|
Description: |
Radius is out of range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The radius index for the start and/or the target position is out of range. |
i_udiStartRadiusIndex is 0 or greater than GPL.Gc_udiNumberOfRadiusSteps. |
Verify that i_udiStartRadiusIndex is greater than 0 and less or equal to GPL.Gc_udiNumberOfRadiusSteps, and adjust if necessary. |
|
i_udiTargetRadiusIndex is 0 or greater than GPL.Gc_udiNumberOfRadiusSteps |
Verify that i_udiStartRadiusIndex is greater than 0 and less or equal to GPL.Gc_udiNumberOfRadiusSteps, and adjust if necessary. |
