IF_FastMove - RestartTuning (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

Restart the tuning of FastMove.

Description

It is either possible to start the tuning from scratch or start with the present tuning values. When no tuning was done so far and RestartTuning is called with i_xResetTuningData = FALSE, the initial tuning values are used.

A full tuning is advised when the payload was changed significantly or when the parameters of the trajectory were changed.

The restart with the present values can be used, for example, in case the tuning was transferred to another robot of the same line.

Interface

Input	Data type	Description
i_xResetTuningData	BOOL	TRUE: Restart the tuning. Start from scratch with initial values. FALSE: Restart the tuning. Use the present tuning values as start.

Input

Data type

Description

i_xResetTuningData

BOOL

TRUE: Restart the tuning. Start from scratch with initial values.

FALSE: Restart the tuning. Use the present tuning values as start.

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 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.

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 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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Successful
ExecutionAborted	FastMoveNotEnabled	113	The FastMove functionality is not enabled.
ExecutionAborted	FastMoveTuningNotEnabled	114	The FastMove tuning is not enabled.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Successful

The call of the method was successful.

FastMoveNotEnabled

Enumeration name:	FastMoveNotEnabled
Enumeration value:	113
Description:	The FastMove functionality is not enabled.

Issue	Cause	Solution
The call of the method was not successful.	The FastMove functionality is not enabled	Ensure that the method IF_FastMove.Configure was called successfully before calling RestartTuning.

FastMoveTuningNotEnabled

Enumeration name:	FastMoveTuningNotEnabled
Enumeration value:	114
Description:	The FastMove tuning is not enabled.

Issue	Cause	Solution
The call of the method was not successful.	The tuning functionality is not enabled	Ensure that the method IF_FastMove.Configure was called successfully before calling RestartTuning and that i_xUseTuning was set to TRUE.