IF_FastMove - FastMoveSExtended (Method)

Overview

Type:	Method
Available as of:	V2.11.0.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Calculate an extended elliptic pick and place spline.

Description

This method can be used to calculate an extended elliptic pick and place spline and issue the respective move command. It can only be used for a Schneider Electric P-Series robot and in combination with the library SchneiderElectricRobotics.

The motion parameters are automatically calculated dependent on the payload to achieve a high performance. The values can be capped using the methods ROB.IF_Motion.SetMotionParameters, ROB.IF_Motion.SetMaxAcceleration, ROB.IF_Motion.SetMaxDeceleration and ROB.IF_Motion.SetMaxVelocity. If the calculated values are greater than the set values, the motion parameters are limited to the set values.
Internally, the methods FB_EllipticSpline.CalcFullSplineExtended is used to calculate the spline and the method IF_RobotMotion.MoveS is used to send the move command.
The start of the spline is the last target position (refer to Robotic Library Guide – IF_RobotFeedback.rstLastTarget). The zone of the internal MoveS is set to zero, so a blending into another move command after the FastMoveS is not possible.

Interface

Input	Data type	Description
i_stTarget	PDL.ST_Vector3D	Target position coordinates of the motion job in three-dimensional space.
i_udiSegmentId	UDINT	ID of the motion job. The ID of a motion job in a connected path must be unique. Value range: i_udiSegmentId > 0
i_lrAbsHeight	LREAL	Absolute height of the elliptic spline apex. Value range for full spline: i_lrAbsHeight > stStart.lrZ AND i_lrAbsHeight > i_stTarget.lrZ Value range for half spline: i_lrAbsHeight > stStart.lrZ AND i_lrAbsHeight = MAX(stStart.lrZ, i_stTarget.lrZ)
i_udiNumberOfSplinePoints	UDINT	Number of spline points for the elliptic spline to be calculated. Value range: 3 ≤udiNumberOfSplinePoints≤ 98

In_Out	Data type	Description
iq_stSplineConfiguration	ROB.ST_CalcSplineExtendedConfiguration	Additional configuration parameters for the extended elliptic spline to be calculated.

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	ROB.ET_DiagExt	POU-specific output for 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.
q_stSplineFeedback	ROB.ST_CalcSplineExtendedFeedback	Feedback data of a successful calculation of an extended elliptic spline.

Diagnostic Messages

NOTE: The method may also return the diagnosis from the methods MoveS and FB_EllipticSpline.CalcSplineExtended.

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Successful
ExecutionAborted	NoSchneiderElectricRobot	222	The configured robot is not a Schneider Electric robot.
ExecutionAborted	FastMoveNotConfigured	223	The FastMove functionality is not configured.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Successful

The motion job was successful.

NoSchneiderElectricRobot

Enumeration name:	NoSchneiderElectricRobot
Enumeration value:	222
Description:	The configured robot is not a Schneider Electric robot.

Issue	Cause	Solution
The motion job was aborted.	The configured robot is not a Schneider Electric P-Series robot.	Use FastMoveSExtended only in combination with a Schneider Electric P-Series robot.

FastMoveNotConfigured

Enumeration name:	FastMoveNotConfigured
Enumeration value:	223
Description:	The FastMove functionality is not configured.

Issue	Cause	Solution
The motion job was aborted.	The configured robot is not a Schneider Electric P-Series robot.	Use FastMoveSExtended only in combination with a Schneider Electric P-Series robot.
The motion job was aborted.	The FastMove functionality is not configured.	Make sure that the method FB_RobotPSeries.Configure was called successfully for the robot.