IF_TrackingSource - SetMotionParameters (Method)

Overview

Type:	Method
Available as of:	V3.6.5.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Set the necessary motion parameters for the tracking source.

Description

The method must be called to set the necessary motion parameters of the tracking source for specific components that are enabled for tracking.

The value transferred at the input i_lrMaxAcceleration is used when the robot synchronizes to this tracking source or when it desynchronizes from this tracking source to the robot coordinate system ET_CoordinateSystem.CSR.

Examples:

Change from CSR to Tracking1 -> i_lrMaxAcceleration from Tracking1 is used.
Change from Tracking1 to Tracking2 -> i_lrMaxAcceleration from Tracking2 is used.
Change from Tracking2 to CSR -> i_lrMaxAcceleration from Tracking2 is used.

It is not possible to limit the acceleration individually for each cartesian components, only the resulting acceleration can be configured.

NOTE: The maximum acceleration is only kept in case the tracking systems are linear. Any curvature in either a rotative or any other curved system cannot be predicted and is not considered. Thus, it can happen that the value is exceeded during a synchronization to or desynchronization from a non-linear system.

When the tracking source changes its speed during the synchronization process, it can also happen that the maximum acceleration is exceeded as the change of velocity cannot be predicted. The algorithm to keep the accelerations within the given limits is only called once when the synchronization process starts and uses the values that are present at that moment.

The values for stop and emergency stop are used when the tracking is aborted, not during desynchronization.

The values can be changed at any time and become active for the subsequent operation.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Component the parameters are for. Valid Values are: ET_RobotComponent.All ET_RobotComponent.CartesianAll ET_RobotComponent.AuxAxAll ET_RobotComponent.AuxAx1..AuxAx10
i_lrMaxAcceleration	LREAL	Maximum acceleration that must be used to synchronize with or desynchronize from the tracking component specified by i_etComponent of this system. Valid value: i_lrMaxAcceleration > 0
i_lrStopDeceleration	LREAL	Deceleration to abort the tracking with when the tracking is stopped with a regular stop. Valid values: i_lrStopDeceleration > 0 i_lrStopDeceleration ≤ i_lrEmergencyDeceleration
i_lrStopRamp	LREAL	Ramp to abort the tracking with when the tracking is stopped with a regular stop. Valid value: i_lrStopRamp > 0 i_lrStopRamp ≥ i_lrEmergancyRamp
i_lrEmergencyDeceleration	LREAL	Deceleration to abort the tracking with when the tracking is stopped with an emergency stop. Valid value: i_lrEmergencyDeceleration > 0 i_lrEmergencyDeceleration ≥ i_lrStopDeceleration
i_lrEmergencyRamp	LREAL	Ramp to abort the tracking with when the tracking is stopped with an emergency stop. Valid value: i_lrEmergencyRamp > 0 i_lrEmerganceRamp ≤ i_lrStopRamp

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	ComponentNotConfigured	198	The component is not configured.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
	MaxAccelerationRange	125	The maximum acceleration is out of range.
	EmergencyDecelerationRange	213	The emergency deceleration is out of range.
	EmergencyRampRange	214	The emergency ramp is out of range.
	StopDecelerationRange	215	The stop deceleration is out of range.
	StopRampRange	216	The stop ramp is out of range.

ComponentInvalid

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

Issue	Cause	Solution
Setting the tracking motion parameters was not successful.	The component is not configured for this tracking source.	Ensure that the component is configured for this tracking source with a successful call of the method EnableComponent.

ComponentNotConfigured

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

Issue	Cause	Solution
Setting the tracking motion parameters was not successful.	The value transferred at the input i_etComponent is invalid.	Ensure that one of the following values is assigned to i_etComponent: ET_RobotComponent.All ET_RobotComponent.CartesianAll ET_RobotComponent.AuxAxAll ET_RobotComponent.AuAx1..AuxAx10

Issue

Cause

Solution

Setting the tracking motion parameters was not successful.

The value transferred at the input i_etComponent is invalid.

Ensure that one of the following values is assigned to i_etComponent:

ET_RobotComponent.All
ET_RobotComponent.CartesianAll
ET_RobotComponent.AuxAxAll
ET_RobotComponent.AuAx1..AuxAx10

EmergencyDecelerationRange

Enumeration name:	EmergencyDecelerationRange
Enumeration value:	213
Description:	The component is not configured.

Issue	Cause	Solution
Setting the tracking motion parameters was not successful.	The input i_lrEmergencyDeceleration is out of range.	At the input i_lrEmergencyDeceleration, a value greater than 0 must be transferred.
Setting the tracking motion parameters was not successful.	The input i_lrEmergencyDeceleration is out of range.	At the input i_lrEmergencyDeceleration, a value greater than or equal to i_lrStopDeceleration must be transferred.

EmergencyRampRange

Enumeration name:	EmergencyRampRange
Enumeration value:	214
Description:	The emergency ramp is out of range.

Issue	Cause	Solution
Setting the tracking motion parameters was not successful.	The input i_lrEmergencyRamp is out of range.	At the input i_lrEmergencyRamp, a value greater than 0 must be transferred.
Setting the tracking motion parameters was not successful.	The input i_lrEmergencyRamp is out of range.	At the input i_lrEmergenyRamp a value less than or equal to i_lrStopRamp must be transferred.

MaxAccelerationRange

Enumeration name:	MaxAccelerationRange
Enumeration value:	125
Description:	The maximum acceleration is out of range.

Issue	Cause	Solution
Setting the tracking motion parameters was not successful.	The input i_lrMaxAcceleration is out of range.	At the input i_lrMaxAcceleration, a value greater than 0 must be transferred.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Setting the tracking motion parameters was successful.

StopDecelerationRange

Enumeration name:	StopDecelerationRange
Enumeration value:	215
Description:	The stop deceleration is out of range.

Issue	Cause	Solution
Setting the tracking motion parameters was not successful.	The input i_lrStopDeceleration is out of range.	At the input i_lrStopDeceleration, a value greater than 0 must be transferred.

StopRampRange

Enumeration name:	StopRampRange
Enumeration value:	216
Description:	The stop ramp is out of range.

Issue	Cause	Solution
Setting the tracking motion parameters was not successful.	The input i_lrStopRamp is out of range.	At the input i_lrStopRamp, a value greater than 0 must be transferred.