With the method GetEmergencyParameter(…), the configured data for an emergency stop of the robot can be read.
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
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. |
|
q_lrDeceleration |
LREAL |
Parameterized deceleration (change of the velocity per time unit) with which the robot motion comes to a standstill in case of a falling edge at FB_Robot.xEnable. Unit: [Units/s²] |
|
q_lrRamp |
LREAL |
Parameterized ramp (change of the deceleration per time unit) with which the robot motion comes to a standstill in case of a falling edge at FB_Robot.xEnable. Detailed description of the motion parameter "Ramp". Unit: [-] |
|
q_timRobotStopTimeLimit |
TIME |
Parameterized maximum time in which the robot must have stopped in case of an exception reaction SynchronStopEh or SynchronStopEl. Unit: [TIME] |