This method is used to configure the data required by the function block to evaluate the scaling of the velocity override.
After a successful call of this method, the property xConfigDone is set to TRUE.
|
Input |
Data type |
Description |
|---|---|---|
|
i_ifRobotMotion |
ROB.IF_RobotMotion |
Motion interface of a robot. |
|
i_ifRobotFeedback |
ROB.IF_RobotFeedback |
Feedback interface of a robot. |
|
i_ifRobotConfigurationReadOnly |
ROB.IF_RobotConfigurationReadOnly |
Configuration read only interface of a robot. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_xError |
BOOL |
TRUE: An error occurred during last command. For more information, refer to q_etResult and q_sResultMsg. |
|
q_etResult |
SERT.ET_Result |
Provides diagnostic and status information. If q_xError = FALSE, then q_etResult provides status information. If q_xError = TRUE, then q_etResult provides diagnostic/error information. The enumeration ET_Result contains the possible values of the POU operation results. |
|
q_sResultMsg |
STRING[255] |
Provides additional information about the status of the POU. |
|
q_xError |
q_etResult |
Enumeration value of q_etResult |
Description |
|---|---|---|---|
|
FALSE |
Ok |
0 |
Ok |
|
TRUE |
InterfaceInvalid |
28 |
The provided interface value is not valid. The configuration of the function block was not successful. |
|
Enumeration name: |
InterfaceInvalid |
|
Enumeration value: |
28 |
|
Description: |
The configuration of the function block was not successful. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the function block was not successful. |
i_ifRobotMotion contains invalid interfaces. |
Ensure that i_ifRobotMotion contains a valid interface. |
|
i_ifRobotFeedback contains invalid interfaces. |
Ensure that i_ifRobotFeedback contains a valid interface. |
|
|
i_ifRobotConfiguration contains invalid interfaces. |
Ensure that i_ifRobotConfiguration contains a valid interface. |