IF_TrackingSource - EnablePositionMonitoring (Method)

Overview

Type:

Method

Available as of:

V3.6.5.0

This chapter provides information on:

Task

Enable the position monitoring of the tracking position. This can be used to detect inconsistent positions provided by the tracking source.

Description

If a maximum acceleration greater than zero is set for one of the components, the acceleration of this component is calculated from the positions sent to the robot by the tracking source.

If the calculated acceleration is greater than the specified limit, a controller stop is initiated for the axes configured to the robot and the robot returns an exception TrackingSourceAccLimitExceeded.

The feature can be used to avoid that the tracking attempts to follow an inconsistent movement of the tracking source.

The method can be called when the tracking source is not in use (property xInUse is FALSE) and the new values are effective immediately.

It is possible to turn of the verification for a component with a value less than or equal to zero on the input i_lrMaxAcceleration.

The configured components can be monitored with an individual acceleration.

For further information, refer to Usage of Position Monitoring.

Interface

Input

Data type

Description

i_etComponent

ET_RobotComponent

Component to be enabled.

Valid Values are:

  • ET_RobotComponent.All

  • ET_RobotComponent.AuxAxAll

  • ET_RobotComponent.AuxAx1..AuxAx10

i_lrMaxAcceleration

LREAL

Maximum acceleration for the selected component.

A value ≤ 0 disables the limit for the given component.

A value > 0 enables the limit for the given component.

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 = 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.

Diagnostic Messages

q_etDiag

q_etDiagExt

Enumeration value

Description

OK

OK

0

Ok

ExecutionAborted

ComponentNotConfigured

198

The component is not configured.

ExecutionAborted

TrackingSourceInUse

253

The tracking source is in use.

InputParameterInvalid

ComponentInvalid

132

The component is invalid.

ComponentInvalid

Enumeration name:

ComponentInvalid

Enumeration value:

132

Description:

The component is invalid.

Issue

Cause

Solution

Enabling the position monitoring was not successful.

The value transferred at the input i_etComponent is invalid.

Ensure that one of the following values is assigned to i_etComponent:

  • ET_RobotComponent.All

  • ET_RobotComponent.AuxAxAll

  • ET_RobotComponent.AuxAx1..AuxAx10

ComponentNotConfigured

Enumeration name:

ComponentNotConfigured

Enumeration value:

198

Description:

The component is not configured.

Issue

Cause

Solution

Enabling the position monitoring was not successful.

The component is not configured for this tracking source.

Ensure that the component was configured for this tracking source with a successful call of the method EnableComponent.

Ok

Enumeration name:

Ok

Enumeration value:

0

Description:

Ok

Enabling the position monitoring was successful.

TrackingSourceInUse

Enumeration name:

TrackingSourceInUse

Enumeration value:

253

Description:

The tracking source is in use.

Issue

Cause

Solution

Enabling the position monitoring was not successful.

The tracking source is in use.

Ensure that the tracking source is not in use (property xInUse is FALSE) by the robot to enable the position monitoring.