IF_RobotMotion - MoveAsync (Method)

Overview

Type:	Method
Available as of:	V2.1.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Asynchronous motion of an auxiliary axis.

Description

With the method MoveAsync(...), a motion job for an auxiliary axis can be issued in order to move to a target position asynchronously to the path motion.

The following criteria must be met in order to issue asynchronous auxiliary axis motions:

The robot must be initialized and ready to operate (FB_Robot.xEnable = TRUE and FB_Robot.xActive = TRUE and FB_Robot.xReady = TRUE).
The auxiliary axis has to be configured.
The configuration of the robot must have been completed successfully (xConfigDone = TRUE and xConfigOk = TRUE).
At the time of the issuing, no other motion command can be processed.
If the start of an asynchronous auxiliary axis movement should be at a specific position on a connected path, the space motion has to be configured first.
The path position of the robot must be before (less than) the start position requested. (Refer to input parameters i_udiStartSegmentId and i_lrStartOffset below).

An asynchronous motion of an auxiliary axis over multiple connected paths is possible.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Identifier of the auxiliary axis that must be moved for this asynchronous motion job. Valid values are: ET_RobotComponent.OrientationX ET_RobotComponent.OrientationY ET_RobotComponent.OrientationZ ET_RobotComponent.AuxAx1 ... AuxAx10 For further information, refer to ET_RobotComponent.
i_udiMovementId	UDINT	Id of the asynchronous motion job of the auxiliary axis. The Id of a motion job (synchronous or asynchronous) of an auxiliary axis in a connected path must be unique.
i_etMode	ET_PositioningMode	Type of the asynchronous auxiliary axes motion (absolute or relative).
i_lrTarget	LREAL	Target position of the asynchronous motion job.
i_udiStartSegmentId	UDINT	Id of the segment of the path motion in which the auxiliary axis motion starts.
i_lrStartOffset	LREAL	Position of the path motion within the segment with the i_udiStartSegmentId Id where the auxiliary axis motion starts. Positive values of i_IrStartOffset refer to the segment start and negative values refer to the segment end. Special cases: i_lrStartOffset = 0.0 AND i_udiStartSegmentId <> 0 In this case, the motion of the auxiliary axis starts at the start of the segment with the i_udiStartSegmentId Id. i_lrStartOffset = 0.0 AND i_udiStartSegmentId = 0 In this case, the motion of the auxiliary axis starts immediately.

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	IdenticalTarget	14	A move command has been sent to an identical target position.
OK	Ok	0	Ok
ExecutionAborted	CommandRefused	10	The command has been denied.
ExecutionAborted	ConfigInvalid	1	The configuration is invalid.
ExecutionAborted	Disabled	51	Disabled
ExecutionAborted	MotionParameterInvalid	130	The motion parameters are invalid.
ExecutionAborted	MovementIdRange	133	The movement Id is out of range.
ExecutionAborted	NotReady	77	The robot is not ready.
ExecutionAborted	MoveSyncTriggered	179	A synchronous auxiliary motion job is triggered.
ExecutionAborted	MoveSyncActive	178	A synchronous auxiliary motion job is active.
ExecutionAborted	MoveAsyncTriggered	181	An asynchronous auxiliary motion job is triggered.
ExecutionAborted	MoveAsyncActive	180	An asynchronous auxiliary motion job is already active.
ExecutionAborted	StartSegmentIdNotFound	31	The start segment Id was not found.
ExecutionAborted	NoConnectedPathAvailable	9	There is no connected path available.
ExecutionAborted	NoMoreMoveAsyncEventsAvailable	177	There are no more asynchronous motion events available.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	AuxiliaryAxisNotConfigured	127	The auxiliary axis is not configured.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	ModeInvalid	26	The mode is invalid.
InputParameterInvalid	MovementIdAlreadyExists	123	The movement Id already exists.
InputParameterInvalid	StartOffsetRange	116	The start offset is out of range.
InputParameterInvalid	OrientationNotAvailable	199	The orientation is not available.
ExecutionAborted	PathPositionStartAlreadyPassed	81	The robot already passed the start position on the path.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	127
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
The motion job was aborted.	The auxiliary axis transferred at the input i_etComponent is not configured.	Ensure that the axis is configured before using an auxiliary axis.

CommandRefused

Enumeration name:	CommandRefused
Enumeration value:	10
Description:	The command has been denied.

Issue	Cause	Solution
The motion job was aborted.	A positioning command is already being processed. Two move commands, for example MoveL(...), MoveC(...), MoveS(...) or MoveSync(...), are called simultaneously (for example, out of two separate tasks).	Ensure that move commands are called one after another and not simultaneously. You can use only one task to send move commands.

Issue

Cause

Solution

The motion job was aborted.

A positioning command is already being processed. Two move commands, for example MoveL(...), MoveC(...), MoveS(...) or MoveSync(...), are called simultaneously (for example, out of two separate tasks).

Ensure that move commands are called one after another and not simultaneously.

You can use only one task to send move commands.

ComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	132
Description:	The component is invalid.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component has been transferred.

ConfigInvalid

Enumeration name:	ConfigInvalid
Enumeration value:	1
Description:	The configuration is invalid.

Issue	Cause	Solution
The motion job was aborted.	The robot configuration is invalid.	Call the method ConfigDone(...) to complete the configuration of the robot.

Disabled

Enumeration name:	Disabled
Enumeration value:	51
Description:	Disabled

Issue	Cause	Solution
The motion job was aborted.	FB_Robot.xEnable = FALSE -> The robot is not active.	Set FB_Robot.xEnable :=TRUE to enable the robot.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
The motion job was aborted.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Sending a motion job is not possible when an external position source for the robot components is configured. Do not send a motion job.

Issue

Cause

Solution

The motion job was aborted.

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

Sending a motion job is not possible when an external position source for the robot components is configured.

Do not send a motion job.

IdenticalTarget

Enumeration name:	IdenticalTarget
Enumeration value:	14
Description:	A move command has been sent to an identical target position.

Issue	Cause	Solution
The motion job was aborted.	The motion job target position transferred at the input i_lrTarget is identical to the target position of the previously issued motion job.	A corresponding entry is created in the logger.

ModeInvalid

Enumeration name:	ModeInvalid
Enumeration value:	26
Description:	The mode is invalid.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_etMode is invalid.	Ensure that the value of i_etMode is contained in ET_PositioningMode. If the value of i_etComponent does not represent a periodic auxiliary axis, the mode ET_PositioningMode.PeriodicShort is not available.

Issue

Cause

Solution

The motion job was aborted.

The value transferred at the input i_etMode is invalid.

Ensure that the value of i_etMode is contained in ET_PositioningMode.

If the value of i_etComponent does not represent a periodic auxiliary axis, the mode ET_PositioningMode.PeriodicShort is not available.

MotionParameterInvalid

Enumeration name:	MotionParameterInvalid
Enumeration value:	130
Description:	The motion parameters are invalid.

Issue	Cause	Solution
The motion job was aborted.	The motion parameters of the auxiliary axis are invalid. At least one of the motion parameters (Velocity, Acceleration, Deceleration, Ramp) is invalid.	Ensure that the motion parameters used for each ET_RobotComponent are valid.

Issue

Cause

Solution

The motion job was aborted.

The motion parameters of the auxiliary axis are invalid.

At least one of the motion parameters (Velocity, Acceleration, Deceleration, Ramp) is invalid.

Ensure that the motion parameters used for each ET_RobotComponent are valid.

MoveAsyncActive

Enumeration name:	MoveAsyncActive
Enumeration value:	180
Description:	An asynchronous auxiliary motion job is already active.

Issue	Cause	Solution
The motion job was aborted.	An asynchronous auxiliary motion job is already active.	Ensure that asynchronous auxiliary motion jobs are finished before issuing an asynchronous auxiliary motion job.

Refer to No second MoveAsync motion before the end of the first MoveAsync motion.

MoveAsyncTriggered

Enumeration name:	MoveAsyncTriggered
Enumeration value:	181
Description:	An asynchronous auxiliary motion job is triggered.

Issue	Cause	Solution
The motion job was aborted.	An asynchronous auxiliary motion job is triggered.	Ensure that asynchronous auxiliary motion jobs are finished before issuing another asynchronous auxiliary motion job.

Refer to No second MoveAsync motion before the end of the first MoveAsync motion.

MovementIdAlreadyExists

Enumeration name:	MovementIdAlreadyExists
Enumeration value:	123
Description:	The movement Id already exists.

Issue	Cause	Solution
The motion job was aborted.	The Id transferred at the input i_udiMovementId already exists for an auxiliary axis motion.	Ensure that unique Ids are used for auxiliary axis movements.

MovementIdRange

Enumeration name:	MovementIdRange
Enumeration value:	133
Description:	The movement Id is out of range.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_udiMovementId is outside the valid range.	At the input i_udiMovementId, a value greater than or equal to 1 must be transferred.

MoveSyncActive

Enumeration name:	MoveSyncActive
Enumeration value:	178
Description:	A synchronous auxiliary motion job is active.

Issue	Cause	Solution
The motion job was aborted.	A synchronous auxiliary motion job is active.	Ensure that synchronous auxiliary motion jobs are finished before issuing an asynchronous auxiliary motion job. Ensure that an asynchronous auxiliary motion job starts after a synchronous auxiliary motion job is finished.

Issue

Cause

Solution

The motion job was aborted.

A synchronous auxiliary motion job is active.

Ensure that synchronous auxiliary motion jobs are finished before issuing an asynchronous auxiliary motion job.

Ensure that an asynchronous auxiliary motion job starts after a synchronous auxiliary motion job is finished.

Refer to No MoveAsync motion before the end of a MoveSync motion.

MoveSyncTriggered

Enumeration name:	MoveSyncTriggered
Enumeration value:	179
Description:	A synchronous auxiliary motion job is triggered.

Issue	Cause	Solution
The motion job was aborted.	A synchronous auxiliary motion job is triggered.	Ensure that synchronous auxiliary motion jobs are finished before issuing an asynchronous auxiliary motion job. Ensure that an asynchronous auxiliary motion job starts after a synchronous auxiliary motion job is finished.

Issue

Cause

Solution

The motion job was aborted.

A synchronous auxiliary motion job is triggered.

Ensure that synchronous auxiliary motion jobs are finished before issuing an asynchronous auxiliary motion job.

Ensure that an asynchronous auxiliary motion job starts after a synchronous auxiliary motion job is finished.

Refer to No MoveAsync motion before the end of a MoveSync motion.

NoConnectedPathAvailable

Enumeration name:	NoConnectedPathAvailable
Enumeration value:	9
Description:	There is no connected path available.

Issue	Cause	Solution
The motion job was aborted.	MoveAsync(...) called but no connected path is available.	Create a connected path before calling MoveAsync(...).

NoMoreMoveAsyncEventsAvailable

Enumeration name:	NoMoreMoveAsyncEventsAvailable
Enumeration value:	177
Description:	There are no more asynchronous motion events available.

Issue	Cause	Solution
The motion job was aborted.	No further coordinate system change requests can be issued. The maximum number of change requests is reached.	Wait until requests to change the coordinate system have been executed before sending other requests.

NotReady

Enumeration name:	NotReady
Enumeration value:	77
Description:	The robot is not ready.

Issue	Cause	Solution
The motion job was aborted.	The robot is not ready.	Ensure that the configuration of the robot is finished, the robot is enabled and the drives are ready.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The motion job was transferred successfully.

OrientationNotAvailable

Enumeration name:	OrientationNotAvailable
Enumeration value:	199
Description:	The orientation is not available.

Issue	Cause	Solution
The motion job was aborted.	The orientation transferred at the input i_etComponent is not available.	Ensure that the transformation used supports the orientation.

PathPositionStartAlreadyPassed

Enumeration name:	PathPositionStartAlreadyPassed
Enumeration value:	81
Description:	The robot already passed the start position on the path.

Issue	Cause	Solution
The motion job was aborted.	The robot has already passed the specified start position of the auxiliary axis motion on the path.	Ensure that MoveAsync(...) is called early enough to make sure that the robot has not passed the start position on the path yet.

StartOffsetRange

Enumeration name:	StartOffsetRange
Enumeration value:	116
Description:	The start offset is out of range.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_lrStartOffset is outside the valid range.	In case of the input i_udiStartSegment is unequal 0, at the input i_lrStartOffset a value less than or equal to the length of the selected segment (i_udiStartSegmentId) must be transferred.

StartSegmentIdNotFound

Enumeration name:	StartSegmentIdNotFound
Enumeration value:	31
Description:	The start segment Id was not found.

Issue	Cause	Solution
The motion job was aborted.	The segment with the Id transferred at the input i_udiStartSegmentId was not found in the latest connected path.	Ensure that the segment with the Id i_udiStartSegmentId is contained in the latest connected path.