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Type: |
Method |
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Available as of: |
V1.0.0.0 |
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Versions: |
Current version |
This chapter provides information on:
By calling up the method, a parameter can be adapted to influence the control loop of the Lexium P Robot axes.
To get the valid range for a control loop parameter, refer to the minimum and maximum values by calling the method GetControlLoopParameter().
ET_RobotPSeriesComponent.AxesAll corresponds to ET_RobotPSeriesComponent.AxisA, ET_RobotPSeriesComponent.AxisB and ET_RobotPSeriesComponent.AxisC.
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Input |
Data type |
Description |
|---|---|---|
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i_etName |
Type of control loop parameter. |
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i_etComponent |
Component of the Lexium P Robot. |
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i_lrValue |
LREAL |
Value for the control loop parameter i_etName and for the component i_etComponent. |
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Output |
Data type |
Description |
|---|---|---|
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q_etDiag |
General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
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q_etDiagExt |
POU-specific output for the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message |
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q_sMsg |
STRING[80] |
Event-triggered message that gives additional information on the diagnostic state. |
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q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
ControlLoopParameterSet |
58 |
The control loop parameter is set. |
|
OK |
Ok |
0 |
Successful |
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ExecutionAborted |
RobotNotInitialized |
89 |
The robot is not initialized. |
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InputParameterInvalid |
ControlLoopParameterInvalid |
59 |
The control loop parameter is invalid. |
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InputParameterInvalid |
ParameterOutOfRange |
30 |
The parameter is out of range. |
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InputParameterInvalid |
RobotPSeriesComponentInvalid |
28 |
The Lexium P Robot component is invalid. |
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Enumeration name: |
ControlLoopParameterInvalid |
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Enumeration value: |
59 |
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Description: |
The control loop parameter is invalid. |
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Issue |
Cause |
Solution |
|---|---|---|
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Setting the control loop parameter was unsuccessful. |
The value at the input i_etName is invalid. |
Ensure that at the input i_etName a valid control loop parameter has been transferred. |
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Enumeration name: |
ControlLoopParameterSet |
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Enumeration value: |
58 |
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Description: |
The control loop parameter is set. |
Setting the control loop parameter was successful.
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Enumeration name: |
Ok |
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Enumeration value: |
0 |
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Description: |
Successful |
Method was called successfully.
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Enumeration name: |
ParameterOutOfRange |
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Enumeration value: |
30 |
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Description: |
The parameter is out of range. |
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Issue |
Cause |
Solution |
|---|---|---|
|
Setting the control loop parameter was unsuccessful. |
The value at the input i_lrValue is invalid. |
At the input i_lrValue a value within the range must be transferred. Call method GetControlLoopParameter to read the minimum and maximum values. |
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Enumeration name: |
RobotNotInitialized |
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Enumeration value: |
89 |
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Description: |
The robot is not initialized. |
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Issue |
Cause |
Solution |
|---|---|---|
|
Setting the control loop parameter was unsuccessful. |
The robot is not initialized. |
Ensure that the robot has been initialized successfully. |
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Enumeration name: |
RobotPSeriesComponentInvalid |
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Enumeration value: |
28 |
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Description: |
The Lexium P Robot component is invalid. |
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Issue |
Cause |
Solution |
|---|---|---|
|
Setting the control loop parameter was unsuccessful. |
The value at the input i_etComponent is invalid. |
Ensure that at the input i_etComponent a valid component has been transferred. |