IF_Manual - GetParameter (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Reading the configured parameters for a component.

Input	Data type	Description
i_etComponent	ROB.ET_RobotComponent	Selecting the component for which the parameters have to be read. Valid values are: ET_RobotComponent.Path ET_RobotComponent.CartesianX ET_RobotComponent.CartesianY ET_RobotComponent.CartesianZ ET_RobotComponent.AuxAx1 ... AuxAx10 ET_RobotComponent.OrientationX ET_RobotComponent.OrientationY ET_RobotComponent.OrientationZ

Input

Data type

Description

i_etComponent

Selecting the component for which the parameters have to be read.

Valid values are:

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[80]	Event-triggered message that gives additional information on the diagnostic state.
q_lrMaxVelocity	LREAL	Specifies the maximum velocity.
q_lrMaxAcceleration	LREAL	Specifies the maximum acceleration. Unit: [Units/s²]
q_lrMaxDeceleration	LREAL	Specifies the maximum deceleration. Unit: [Units/s²]
q_lrRamp	LREAL	Specifies the ramp. Unit: [-]

Data type	Description
BOOL	TRUE: Valid parameters.

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ExternalPositionSourceConfigured	357	The external position source is configured.
InputParameterInvalid	RobotComponentInvalid	144	The robot component is invalid.
InputParameterInvalid	OrientationNotAvailable	347	The orientation is not available.

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	357
Description:	The external position source is configured.

Issue	Cause	Solution
Reading the parameter was unsuccessful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Reading the parameters for the component Path is not possible when an external position source for the robot components is configured. Do not read the parameters for the component Path.

Issue

Cause

Solution

Reading the parameter was unsuccessful.

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

Reading the parameters for the component Path is not possible when an external position source for the robot components is configured.

Do not read the parameters for the component Path.

Reading the parameter was successful.

Enumeration name:	OrientationNotAvailable
Enumeration value:	347
Description:	The orientation is not available.

Issue	Cause	Solution
Reading the parameter was unsuccessful.	The orientation transferred at the input i_etComponent is not available.	Ensure that the transformation used supports the orientation.

Enumeration name:	RobotComponentInvalid
Enumeration value:	144
Description:	The robot component is invalid.

Issue	Cause	Solution
Reading the parameter was unsuccessful.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component has been transferred.