IF_RobotTSeries - SetKinematicParameter (Method)

Overview

Type:	Method
Available as of:	V2.8.0.0
Versions:	Current version

This chapter provides information on:

Task
Description
Use of i_stCenterOfMass
Interface
Diagnostic Messages

Task

Set kinematic parameter for a Lexium T Robot.

Description

By calling up the method, the kinematic parameter can be adapted.

Use of i_stCenterOfMass

With i_stCenterOfMass, you can define the vector that describes the location of the center of mass of the selected kinematic parameter. The picture shows a Lexium T Robot with a default coordinate system.

NOTE: If the coordinate has not been modified, the X-direction is parallel to the upper-arm B of the robot. The parameters for center of mass are always defined in this default coordinate system.

In this example, the payload is mounted in the XZ-plane.

With the dimension shown in the next picture, the i_stCenterOfMass has to have the following values.

i_stCenterOfMass.lrX := 49.592;
i_stCenterOfMass.lrY := 0.0;
i_stCenterOfMass.lrZ := -63.693;

Interface

Input	Data type	Description
i_etName	ET_KinematicParameter	Select the kinematic parameter.
i_lrValue	LREAL	Mass of the selected kinematic parameter [kg].
i_stCenterOfMass	PDL.ST_Vector3D	Set the center of mass for the selected kinematic parameter [mm].

Output	Data type	Description
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output for 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 ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output for 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	GripperMassSet	16	The gripper mass is set.
OK	ProductMassSet	17	The product mass is set.
InputParameterInvalid	GripperMassInvalid	18	The gripper mass is invalid.
InputParameterInvalid	KinematicParameterInvalid	15	The kinematic parameter is invalid.
InputParameterInvalid	ProductMassInvalid	19	The product mass is invalid.

GripperMassInvalid

Enumeration name:	GripperMassInvalid
Enumeration value:	18
Description:	The gripper mass is invalid.

Issue	Cause	Solution
Setting the gripper mass was unsuccessful	The value transferred at the input i_lrValue is invalid	A value greater than or equal to 0 must be transferred at the input i_lrValue.

GripperMassSet

Enumeration name:	GripperMassSet
Enumeration value:	16
Description:	The gripper mass is set.

Setting the gripper mass was successful

KinematicParameterInvalid

Enumeration name:	KinematicParameterInvalid
Enumeration value:	15
Description:	The kinematic parameter is invalid.

Issue	Cause	Solution
Setting the kinematic parameter was unsuccessful.	The value transferred at the input i_etName is invalid	Ensure that at the input i_etName a valid kinematic parameter has been transferred.

ProductMassInvalid

Enumeration name:	ProductMassInvalid
Enumeration value:	19
Description:	The product mass is invalid.

Issue	Cause	Solution
Setting the gripper mass was unsuccessful	The value transferred at the input i_lrValue is invalid	A value greater than or equal to 0 must be transferred at the input i_lrValue.

ProductMassSet

Enumeration name:	ProductMassSet
Enumeration value:	17
Description:	The product mass is set.

Setting the product mass was successful