IF_Configuration - Delta3Ax (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

NOTE: Using the transformation Delta3Ax requires license points.

License points are only required for library versions earlier than V2.4.0.0. For more information on license points, refer to License Model for PacDrive Software Packages.

For further information, refer to Robotic library ROB.IF_RobotConfiguration.Delta3Ax.

Robots of all types inherently present various hazards to machine operators, maintenance personnel, and commissioners. Some of these hazards may be the result of improper/invalid programming control or system parameterization/configuration. To help avoid as much as possible these hazards/situations, the library SchneiderElectricRobotics has been developed dedicated to Schneider Electric robots.

WARNING
	UNINTENDED ROBOT OPERATION Ensure that the library SchneiderElectricRobotics is used for operating a Schneider Electric robot. Failure to follow these instructions can result in death, serious injury, or equipment damage.

The library SchneiderElectricRobotics facilitates:

The parameterization of the robot.
The monitoring of the robot axes parameters.
- GearIn and GearOut
- FeedConstant
- Maximum current
- Direction
- Maximum speed
The monitoring of the work envelope of the robot.

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Configuring a triaxial Delta robot.

Description

With the method Delta3Ax(...), the robot can be configured as a Delta robot with three degrees of freedom.

NOTE: If a method to configure a transformation was already called up successfully (q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok), then it is not possible to overwrite the parameterization by calling up another method for configuring a transformation.

Interface

Input	Data type	Description
i_ifDriveA	SystemConfigurationItf.IF_Drive	Drive of axis A.
i_ifDriveB	SystemConfigurationItf.IF_Drive	Drive of axis B.
i_ifDriveC	SystemConfigurationItf.IF_Drive	Drive of axis C.
i_lrLengthABC0	LREAL	Length of the distance between the axes A, B, and C and the center of the base plate. Value range: i_lrLengthABC0 > 0
i_lrLengthABC1	LREAL	Length of the upper arm mounted on Axis A, B, or C. Value range: i_lrLengthABC1 > 0
i_lrLengthABC2	LREAL	Length of the lower arm mounted on Axis A, B, or C. Value range: i_lrLengthABC2 > 0
i_lrLengthABC3	LREAL	Length of the distance between the suspension points of the lower arms and the center of the flange plate. Value range: i_lrLengthABC3 > 0

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to 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.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic.

A value not equal to 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	ConfigurationAlreadyCompleted	154	The configuration is already completed.
ExecutionAborted	TransformationAlreadyConfigured	171	The transformation is already configured.
InputParameterInvalid	DriveAAlreadyInUse	164	The drive A is already in use.
InputParameterInvalid	DriveAInvalid	167	The drive A is invalid.
InputParameterInvalid	DriveBAlreadyInUse	165	The drive B is already in use.
InputParameterInvalid	DriveBInvalid	168	The drive B is invalid.
InputParameterInvalid	DriveCAlreadyInUse	166	The drive C is already in use.
InputParameterInvalid	DriveCInvalid	169	The drive C is invalid.
InputParameterInvalid	LengthABC0Range	176	The LengthABC0 is out of range.
InputParameterInvalid	LengthABC1Range	177	The LengthABC1 is out of range.
InputParameterInvalid	LengthABC2Range	178	The LengthABC2 is out of range.
InputParameterInvalid	LengthABC3Range	179	The LengthABC3 is out of range.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	154
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration of the robot has already been completed. The method ConfigDone(...) has already been called up successfully.	Ensure that no transformation configuration method, for example Delta3Ax(...) or AddAuxAx(...), is called after the configuration has been completed.

DriveAAlreadyInUse

Enumeration name:	DriveAAlreadyInUse
Enumeration value:	164
Description:	The drive A is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveA is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once, and correct if necessary.

DriveAInvalid

Enumeration name:	DriveAInvalid
Enumeration value:	167
Description:	The drive A is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveA is invalid.	At the input i_ifDriveA, a valid drive must be transferred.

DriveBAlreadyInUse

Enumeration name:	DriveBAlreadyInUse
Enumeration value:	165
Description:	The drive B is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveB is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once, and correct if necessary.

DriveBInvalid

Enumeration name:	DriveBInvalid
Enumeration value:	168
Description:	The drive B is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveB is invalid.	At the input i_ifDriveB, a valid drive must be transferred.

DriveCAlreadyInUse

Enumeration name:	DriveCAlreadyInUse
Enumeration value:	166
Description:	The drive C is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveC is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once, and correct if necessary.

DriveCInvalid

Enumeration name:	DriveCInvalid
Enumeration value:	169
Description:	The drive C is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveC is invalid.	At the input i_ifDriveC, a valid drive must be transferred.

LengthABC0Range

Enumeration name:	LengthABC0Range
Enumeration value:	176
Description:	The LengthABC0 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthABC0 is outside the valid range.	At the input i_lrLengthABC0, a value greater than 0 must be transferred.

LengthABC1Range

Enumeration name:	LengthABC1Range
Enumeration value:	177
Description:	The LengthABC1 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthABC1 is outside the valid range.	At the input i_lrLengthABC1, a value greater than 0 must be transferred.

LengthABC2Range

Enumeration name:	LengthABC2Range
Enumeration value:	178
Description:	The LengthABC2 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthABC2 is outside the valid range.	At the input i_lrLengthABC2, a value greater than 0 must be transferred.

LengthABC3Range

Enumeration name:	LengthABC3Range
Enumeration value:	179
Description:	The LengthABC3 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthABC3 is outside the valid range.	At the input i_lrLengthABC3, a value greater than 0 must be transferred.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the robot transformation was successful.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	171
Description:	The transformation is already configured.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration of the robot transformation has already been completed successfully.	Ensure that a configuration for a transformation is only called once.