IF_RobotMotion - MoveSync (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Synchronous motion of an auxiliary axis.

Description

With the method MoveSync(...), a motion job for an auxiliary axis can be issued, in order to move to a target position synchronously to the path motion.

The following criteria must be met in order to issue synchronous auxiliary axis motions:

The robot is initialized and ready to operate (FB_Robot.xEnable = TRUE AND FB_Robot.xActive = TRUE AND FB_Robot.xReady = TRUE).
The configuration of the robot has completed successfully (xConfigDone = TRUE AND xConfigOk = TRUE).
At the time of the issuing, no other motion command is being processed.
The space motion is configured within which the synchronous auxiliary axis motion will occur.
The start position on the path lies beyond the end position of the path of the last auxiliary axis motion.
The start position on the path is greater than the robot path position.
The end position on the path of an auxiliary axis motion is greater than the start position on the path.

A synchronous motion of an auxiliary axis over multiple connected paths is not possible.

An issued auxiliary axis motion is only executed if the input parameter xStart of the robot is set to TRUE.

If xStart is set to FALSE during a running auxiliary axis motion, then the path motion is decelerated. Thereby the issued synchronous auxiliary axis motions also come to a standstill.

If xStart is set back to TRUE, then the path motion and the incomplete auxiliary axis motion are continued.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Identifier of the auxiliary axis that must be moved for this motion job. Valid values are: ET_RobotComponent.OrientationX ET_RobotComponent.OrientationY ET_RobotComponent.OrientationZ ET_RobotComponent.AuxAx1 ... AuxAx10 For further information, refer to ET_RobotComponent.
i_udiMovementId	UDINT	Id of the motion job of the auxiliary axis. The Id of a motion job of an auxiliary axis in a connected path must be unique.
i_etMode	ET_PositioningMode	Type of the auxiliary axes motion.
i_lrTarget	LREAL	Target position of the motion job.
i_udiStartSegmentId	UDINT	Id of the segment of the path motion in which the auxiliary axis motion starts.
i_lrStartOffset	LREAL	Position of the path motion within the segment with the i_udiStartSegmentId Id where the auxiliary axis motion starts. Positive values of i_IrStartOffset refer to the segment start and negative values refer to the segment end. Special case: i_lrStartOffset = 0.0 -> In this case the motion of the auxiliary axis starts at the start of the segment with the i_udiStartSegmentId Id.
i_udiEndSegmentId	UDINT	Id of the segment of the path motion in which the auxiliary axis motion ends.
i_lrEndOffset	LREAL	Position of the path motion within the segment with the i_udiEndSegmentId Id where the auxiliary axis motion ends. Positive values of i_lrEndOffset refer to the segment start and negative values refer to the segment end. Special case: i_lrEndOffset = 0.0 -> In this case the motion of the auxiliary axis ends at the end of the segment with the i_udiEndSegmentId Id.
i_xAccMinimized	BOOL	If xAccMinimized = TRUE then the auxiliary axis motion is moved with as little acceleration as possible. If xAccMinimized = FALSE then the auxiliary axis motion is moved with as little velocity as possible.

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	IdenticalTarget	14	A move command has been sent to an identical target position.
OK	Ok	0	Ok
ExecutionAborted	CommandRefused	10	The command has been denied.
ExecutionAborted	ConfigInvalid	1	The configuration is invalid.
ExecutionAborted	Disabled	51	Disabled
ExecutionAborted	EndSegmentIdNotFound	32	The end segment Id was not found.
ExecutionAborted	MotionParameterInvalid	130	The motion parameters are invalid.
ExecutionAborted	MovementIdRange	133	The movement Id is out of range.
ExecutionAborted	NoConnectedPathAvailable	9	There is no connected path available.
ExecutionAborted	NoMoreSegmentsAvailable	86	There are no more segments available.
ExecutionAborted	NotReady	77	The robot is not ready.
ExecutionAborted	PathPositionEndInvalid	25	The end position on the path is invalid.
ExecutionAborted	PathPositionStartAlreadyPassed	81	The robot already passed the start position on the path.
ExecutionAborted	PathPositionStartInvalid	24	The start position on the path is invalid.
ExecutionAborted	StartSegmentIdNotFound	31	The start segment Id was not found.
ExecutionAborted	MoveAsyncTriggered	181	An asynchronous auxiliary motion job is triggered.
ExecutionAborted	MoveAsyncActive	180	An asynchronous auxiliary motion job is already active.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	AuxiliaryAxisNotConfigured	127	The auxiliary axis is not configured.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	EndOffsetRange	78	The end offset is out of range.
InputParameterInvalid	EndSegmentIdRange	28	The end segment Id is out of range.
InputParameterInvalid	ModeInvalid	26	The mode is invalid.
InputParameterInvalid	MovementIdAlreadyExists	123	The movement Id already exists.
InputParameterInvalid	StartOffsetRange	116	The start offset is out of range.
InputParameterInvalid	StartSegmentIdRange	27	The start segment Id is out of range.
InputParameterInvalid	OrientationNotAvailable	199	The orientation is not available.
UnexpectedProgramBehavior	AccDecDistanceRange	33	The AccDec distance is out of range.
UnexpectedProgramBehavior	InitializationFailed	4	The initialization was unsuccessful.
UnexpectedProgramBehavior	InterfaceInvalid	3	An interface is invalid.
UnexpectedProgramBehavior	UnexpectedFeedback	13	A feedback value was invalid.

AccDecDistanceRange

Enumeration name:	AccDecDistanceRange
Enumeration value:	33
Description:	The AccDec distance is out of range.

The motion job was aborted.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	127
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
The motion job was aborted.	The auxiliary axis transferred at the input i_etComponent is not configured.	Ensure that the axis is configured before using an auxiliary axis.

CommandRefused

Enumeration name:	CommandRefused
Enumeration value:	10
Description:	The command has been denied.

Issue	Cause	Solution
The motion job was aborted.	A positioning command is already being processed. Two move commands, for example MoveL(...), MoveC(...), MoveS(...) or MoveSync(...), are called simultaneously.	Ensure that move commands are called one after another and not simultaneously.

ComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	132
Description:	The component is invalid.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component has been transferred.

ConfigInvalid

Enumeration name:	ConfigInvalid
Enumeration value:	1
Description:	The configuration is invalid.

Issue	Cause	Solution
The motion job was aborted.	The robot configuration is invalid.	Call the method ConfigDone(...) to complete the configuration of the robot.

Disabled

Enumeration name:	Disabled
Enumeration value:	51
Description:	Disabled

Issue	Cause	Solution
The motion job was aborted.	FB_Robot.xEnable = FALSE -> The robot is not active.	Set FB_Robot.xEnable :=TRUE to enable the robot.

EndOffsetRange

Enumeration name:	EndOffsetRange
Enumeration value:	78
Description:	The end offset is out of range.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_lrEndOffset lies outside the valid range.	At the input i_lrEndOffset, a value less than or equal to the length of the selected segment (i_udiEndSegmentId) must be transferred.

EndSegmentIdNotFound

Enumeration name:	EndSegmentIdNotFound
Enumeration value:	32
Description:	The end segment Id was not found.

Issue	Cause	Solution
The motion job was aborted.	The segment with the Id transferred at the input i_udiEndSegmentId was not found in the latest connected path.	Ensure that the segment with the Id i_udiEndSegmentId is contained in the latest connected path.

EndSegmentIdRange

Enumeration name:	EndSegmentIdRange
Enumeration value:	28
Description:	The end segment Id is out of range.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_udiEndSegmentId lies outside the valid range.	At the input i_udiEndSegmentId, a value greater than or equal to 1 must be transferred.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
The motion job was aborted.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Sending a motion job is not possible when an external position source for the robot components is configured. Do not send a motion job.

Issue

Cause

Solution

The motion job was aborted.

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

Sending a motion job is not possible when an external position source for the robot components is configured.

Do not send a motion job.

IdenticalTarget

Enumeration name:	IdenticalTarget
Enumeration value:	14
Description:	A move command has been sent to an identical target position.

Issue	Cause	Solution
The motion job was aborted.	The motion job target position transferred at the input i_lrTarget is identical to the target position of the previously issued motion job.	A corresponding entry is created in the logger. Ensure that the target position is different to last target position of the previously issued motion job. Decrease the value of IF_RobotConfigurationAdvanced.lrMinPositionDelta, if necessary.

Issue

Cause

Solution

The motion job was aborted.

The motion job target position transferred at the input i_lrTarget is identical to the target position of the previously issued motion job.

A corresponding entry is created in the logger.

Ensure that the target position is different to last target position of the previously issued motion job.

Decrease the value of IF_RobotConfigurationAdvanced.lrMinPositionDelta, if necessary.

InitializationFailed

Enumeration name:	InitializationFailed
Enumeration value:	4
Description:	The initialization was unsuccessful.

The motion job was aborted.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	3
Description:	An interface is invalid.

The motion job was aborted.

ModeInvalid

Enumeration name:	ModeInvalid
Enumeration value:	26
Description:	The mode is invalid.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_etMode is invalid.	Ensure that the value of i_etMode is contained in ET_PositioningMode. If the value of i_etComponent does not represent a periodic auxiliary axis, the mode ET_PositioningMode.PeriodicShort is not available.

Issue

Cause

Solution

The motion job was aborted.

The value transferred at the input i_etMode is invalid.

Ensure that the value of i_etMode is contained in ET_PositioningMode.

If the value of i_etComponent does not represent a periodic auxiliary axis, the mode ET_PositioningMode.PeriodicShort is not available.

MotionParameterInvalid

Enumeration name:	MotionParameterInvalid
Enumeration value:	130
Description:	The motion parameters are invalid.

Issue	Cause	Solution
The motion job was aborted.	The motion parameters of the auxiliary axis are invalid. At least one of the motion parameters (Velocity, Acceleration, Deceleration, Ramp) is invalid.	Ensure that the motion parameters used for each ET_RobotComponent are valid.

Issue

Cause

Solution

The motion job was aborted.

The motion parameters of the auxiliary axis are invalid.

At least one of the motion parameters (Velocity, Acceleration, Deceleration, Ramp) is invalid.

Ensure that the motion parameters used for each ET_RobotComponent are valid.

MoveAsyncActive

Enumeration name:	MoveAsyncActive
Enumeration value:	180
Description:	An asynchronous auxiliary motion job is already active.

Issue	Cause	Solution
The motion job was aborted.	An asynchronous auxiliary motion job is already active.	Ensure that asynchronous auxiliary motion jobs are finished before issuing a synchronous auxiliary motion job.

Refer to No MoveSync motion before the end of a MoveAsync motion.

MoveAsyncTriggered

Enumeration name:	MoveAsyncTriggered
Enumeration value:	181
Description:	An asynchronous auxiliary motion job is triggered.

Issue	Cause	Solution
The motion job was aborted.	An asynchronous auxiliary motion job is triggered.	Ensure that asynchronous auxiliary motion jobs are finished before issuing another synchronous auxiliary motion job.

Refer to No MoveSync motion before the end of a MoveAsync motion.

MovementIdAlreadyExists

Enumeration name:	MovementIdAlreadyExists
Enumeration value:	123
Description:	The movement Id already exists.

Issue	Cause	Solution
The motion job was aborted.	The Id transferred at the input i_udiMovementId already exists for an auxiliary axis motion.	Ensure that unique Ids are used within a connected path.

MovementIdRange

Enumeration name:	MovementIdRange
Enumeration value:	133
Description:	The movement Id is out of range.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_udiMovementId lies outside the valid range.	At the input i_udiMovementId, a value greater than or equal to 1 must be transferred.

NoConnectedPathAvailable

Enumeration name:	NoConnectedPathAvailable
Enumeration value:	9
Description:	There is no connected path available.

Issue	Cause	Solution
The motion job was aborted.	MoveSync(...) called but no connected path is available.	Create a connected path before calling MoveSync(...).

NoMoreSegmentsAvailable

Enumeration name:	NoMoreSegmentsAvailable
Enumeration value:	86
Description:	There are no more segments available.

Issue	Cause	Solution
The motion job was aborted.	No more motion jobs can be issued for a synchronous auxiliary motion.	Wait until move commands for synchronous auxiliary movements have been executed before sending new move commands.

NotReady

Enumeration name:	NotReady
Enumeration value:	77
Description:	The robot is not ready.

Issue	Cause	Solution
The motion job was aborted.	The robot is not ready.	Ensure that the configuration of the robot is finished, the robot is enabled and the drives are ready.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The motion job was transferred successfully.

OrientationNotAvailable

Enumeration name:	OrientationNotAvailable
Enumeration value:	199
Description:	The orientation is not available.

Issue	Cause	Solution
The motion job was aborted.	The orientation transferred at the input i_etComponent is not available.	Ensure that the transformation used supports the orientation.

PathPositionEndInvalid

Enumeration name:	PathPositionEndInvalid
Enumeration value:	25
Description:	The end position on the path is invalid.

Issue	Cause	Solution
The motion job was aborted.	The end position of the auxiliary axis motion on the path lies in front of the start position of the auxiliary axis motion on the path.	Ensure that the path position start is greater than the path position end. Verify the values of i_udiStartSegmentId, i_lrStartOffset, i_udiEndSegmentId, and i_lrEndOffset of MoveSync(...).

Issue

Cause

Solution

The motion job was aborted.

The end position of the auxiliary axis motion on the path lies in front of the start position of the auxiliary axis motion on the path.

Ensure that the path position start is greater than the path position end.

Verify the values of i_udiStartSegmentId, i_lrStartOffset, i_udiEndSegmentId, and i_lrEndOffset of MoveSync(...).

PathPositionStartAlreadyPassed

Enumeration name:	PathPositionStartAlreadyPassed
Enumeration value:	81
Description:	The robot already passed the start position on the path.

Issue	Cause	Solution
The motion job was aborted.	The robot has already passed the specified start position of the auxiliary axis motion on the path.	Ensure that MoveSync(...) is called early enough to make sure that the robot has not passed the start position on the path yet.

PathPositionStartInvalid

Enumeration name:	PathPositionStartInvalid
Enumeration value:	24
Description:	The start position on the path is invalid.

Issue

Cause

Solution

The motion job was aborted.

The start position of the auxiliary axis motion on the path lies in front of the end of the previously issued auxiliary axis motion.

Ensure that the path position start is greater than the path position end of the previously issued auxiliary axis movement.

Verify the values of i_udiStartSegmentId and i_lrStartOffset of MoveSync(...).

StartOffsetRange

Enumeration name:	StartOffsetRange
Enumeration value:	116
Description:	The start offset is out of range.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_lrStartOffset lies outside the valid range.	At the input i_lrStartOffset, a value less than or equal to the length of the selected segment (i_udiStartSegmentId) must be transferred.

StartSegmentIdNotFound

Enumeration name:	StartSegmentIdNotFound
Enumeration value:	31
Description:	The start segment Id was not found.

Issue	Cause	Solution
The motion job was aborted.	The segment with the Id transferred at the input i_udiStartSegmentId was not found in the latest connected path.	Ensure that the segment with the Id i_udiStartSegmentId is contained in the latest connected path.

StartSegmentIdRange

Enumeration name:	StartSegmentIdRange
Enumeration value:	27
Description:	The start segment Id is out of range.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_udiStartSegmentId lies outside the valid range.	At the input i_udiStartSegmentId, a value greater than or equal to 1 must be transferred.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	13
Description:	A feedback value was invalid.

The motion job was aborted.