IF_TrackingSource - GetMotionParameters (Method)

Overview

Type:	Method
Available as of:	V3.6.5.0

This chapter provides information on:

Read the configured motion parameters for the tracking source.

The method can be used to read the motion parameters of the tracking source for a specific component.

Input	Data type	Description
i_etComponent	ET_RobotComponent	Component of which the tracking motion parameters should be read. Valid values are: ET_RobotComponent.CartesianAll ET_RobotComponent.AuxAx1..AuxAx10

Input

Data type

Description

i_etComponent

Component of which the tracking motion parameters should be read.

Valid values are:

ET_RobotComponent.CartesianAll

ET_RobotComponent.AuxAx1..AuxAx10

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.
q_lrMaxAcceleration	LREAL	Maximum acceleration for synchronization and desynchronization.
q_lrStopDeceleration	LREAL	Stop deceleration in case the tracking is aborted with a regular stop.
q_lrStopRamp	LREAL	Stop ramp in case the tracking is aborted with a regular stop.
q_lrEmergencyDeceleration	LREAL	Stop deceleration in case the tracking is aborted with an emergency stop.
q_lrEmergencyRamp	LREAL	Stop ramp in case the tracking is aborted with an emergency stop.

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	OK	0	Ok
ExecutionAborted	ComponentNotConfigured	198	The component is not configured.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.

Enumeration name:	ComponentNotConfigured
Enumeration value:	198
Description:	The component is not configured.

Issue	Cause	Solution
Reading the parameters was not successful.	The component transferred at the input i_etComponent is not configured for this tracking source.	Ensure that the component is configured for this tracking source before calling IF_TrackingSource.GetMotionParameters.

Issue	Cause	Solution
Reading the parameters was not successful.	The value transferred at the input i_etComponent is invalid.	Make sure that a valid value is transferred at the input i_etComponent. Valid values are: ET_RobotComponent.CartesianAll ET_RobotComponent.AuxAx1..AuxAx10

Issue

Cause

Solution

Reading the parameters was not successful.

The value transferred at the input i_etComponent is invalid.

Make sure that a valid value is transferred at the input i_etComponent.

Valid values are:

Reading the configured motion parameters of the tracking source was successful.