IF_EntitiesHandler - GetRobot (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

Retrieve the information on a robot entity.

The method GetRobot is used to retrieve the information on a robot entity previously stored inside the internal list of the function block.

Input	Data type	Description
i_etSystemId	ET_SystemEntity	An ID used to unequivocally identify the sensor-conveyor pair in the system. Admissible values are in the range ET_SystemEntity.Robot1...ET_SystemEntity.Robot30.

Input

Data type

Description

i_etSystemId

ET_SystemEntity

An ID used to unequivocally identify the sensor-conveyor pair in the system.

Admissible values are in the range ET_SystemEntity.Robot1...ET_SystemEntity.Robot30.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal 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 more detailed information on the diagnostic state.

Output

Data type

Description

q_etDiag

General library-independent statement on the diagnostic. A value unequal 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 more detailed information on the diagnostic state.

Data type	Description
ST_RobotEntityData	Returns a data structure containing information on a selected robot entity previously stored inside the function block.

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	Ok
InputParameterInvalid	RobotIdInvalid	120	A provided robot ID has an invalid value.
InputParameterInvalid	RobotIdUnknown	130	A provided robot ID is invalid.

Status message: A robot entity has been successfully retrieved from the list.

Enumeration name:	RobotIdInvalid
Enumeration value:	120
Description:	A provided robot ID has an invalid value.

Issue	Cause	Solution
A robot entity has not been successfully retrieved from the list.	i_etSystemId contains an invalid entity ID.	Ensure that the value of i_etSystemId refers to an entity ID in the range ET_SystemEntity.Robot1...ET_SystemEntity.Robot10.

Enumeration name:	RobotIdUnknown
Enumeration value:	130
Description:	A provided robot ID is invalid.

Issue	Cause	Solution
A robot entity has not been successfully retrieved from the list.	i_etSystemId contains an invalid robot system ID.	Ensure that the value of i_etSystemId refers to a previously configured robot.