IF_RobotConfiguration - Delta2Ax (Method)

Overview

Type:	Method
Available as of:	V1.2.0.0

NOTE: Using the transformation Delta2Ax requires license points.

License points are only required for library versions earlier than V2.6.1.0. For more information on license points, refer to License Model for PacDrive Software Packages.

Number of license points: 25

License string: ROB.Delta2Ax

The license points are requested during a successful call of the configuration method.

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 Schneider Electric Robot library 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 biaxial Delta robot.

Description

With the method Delta2Ax(...), the robot can be configured as a biaxial Delta robot with two degrees of freedom.

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

Interface

Input	Data type	Description
i_ifDriveA	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis A.
i_ifDriveB	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis B.
i_etPlane	ET_WorkingPlane	Specification in which working plane the robot is operating.
i_lrLengthAB0	LREAL	Length of the distance between the axes A and B. Value range: i_lrLengthAB0 >= 0
i_lrLengthA1	LREAL	Length of the upper arm mounted on Axis A. Value range: i_lrLengthA1 > 0
i_lrLengthA2	LREAL	Length of the lower arm mounted on Axis A. Value range: i_lrLengthA2 > 0
i_lrLengthB1	LREAL	Length of the upper arm mounted on Axis B. Value range: i_lrLengthB1 > 0
i_lrLengthB2	LREAL	Length of the lower arm mounted on Axis B. Value range: i_lrLengthB2 > 0
i_lrLengthAB3	LREAL	Length of the distance between the two suspension points of the lower arms A and B. Value range: 0 <=i_lrLengthAB3 <= i_lrLengthAB0
i_lrOffsetA4	LREAL	Offset of the TCP in extension of the lower arm of Axis A. The value of i_lrLengthAB3 has to be 0. Value range: - infinite <=i_lrOffsetA4 <= + infinite
i_lrOffsetA5	LREAL	Offset of the TCP perpendicular to the offset i_lrOffsetA4. The value of i_lrLengthAB3 has to be 0. Value range: - infinite <=i_lrOffsetA5 <= + infinite

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to GD.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 GD.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	105	The configuration is already completed.
ExecutionAborted	TransformationAlreadyConfigured	106	The transformation is already configured.
InputParameterInvalid	DriveAAlreadyInUse	36	The drive A is already in use.
InputParameterInvalid	DriveAInvalid	48	The drive A is invalid.
InputParameterInvalid	DriveBAlreadyInUse	37	The drive B is already in use.
InputParameterInvalid	DriveBInvalid	49	The drive B is invalid.
InputParameterInvalid	LengthA1Range	148	The LengthA1 is out of range.
InputParameterInvalid	LengthA2Range	149	The LengthA2 is out of range.
InputParameterInvalid	LengthAB0Range	146	The LengthAB0 is out of range.
InputParameterInvalid	LengthAB3Range	147	The LengthAB3 is out of range.
InputParameterInvalid	LengthB1Range	150	The LengthB1 is out of range.
InputParameterInvalid	LengthB2Range	151	The LengthB2 is out of range.
InputParameterInvalid	PlaneInvalid	107	The plane is invalid.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	105
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:	36
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:	48
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:	37
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:	49
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.

LengthA1Range

Enumeration name:	LengthA1Range
Enumeration value:	148
Description:	The LengthA1 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthA1 is not within the valid range.	At the input i_lrLengthA1, a value greater than 0 must be transferred.

LengthA2Range

Enumeration name:	LengthA2Range
Enumeration value:	149
Description:	The LengthA2 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthA2 is not within the valid range.	At the input i_lrLengthA2, a value greater than 0 must be transferred.

LengthAB0Range

Enumeration name:	LengthAB0Range
Enumeration value:	146
Description:	The LengthAB0 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthAB0 is not within the valid range.	At the input i_lrLengthAB0, a value greater than or equal to 0 must be transferred.

LengthAB3Range

Enumeration name:	LengthAB3Range
Enumeration value:	147
Description:	The LengthAB3 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthAB3 is not within the valid range.	At the input i_lrLengthAB3, a value greater than or equal to 0 must be transferred. At the input i_lrLengthAB3, a value less than or equal to i_lrLengthAB0 must be transferred.

Issue

Cause

Solution

The configuration of the robot transformation was not successful.

The value transferred at the input i_IrLengthAB3 is not within the valid range.

At the input i_lrLengthAB3, a value greater than or equal to 0 must be transferred.

At the input i_lrLengthAB3, a value less than or equal to i_lrLengthAB0 must be transferred.

LengthB1Range

Enumeration name:	LengthB1Range
Enumeration value:	150
Description:	The LengthB1 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthB1 is not within the valid range.	At the input i_lrLengthB1, a value greater than 0 must be transferred.

LengthB2Range

Enumeration name:	LengthB2Range
Enumeration value:	151
Description:	The LengthB2 is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthB2 is not within the valid range.	At the input i_lrLengthB2, 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.

PlaneInvalid

Enumeration name:	PlaneInvalid
Enumeration value:	107
Description:	The plane is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_etPlane is invalid.	At the input i_etPlane, a value contained in ET_WorkingPlane must be transferred.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	106
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.