SR_<Robot P-Series Name> - GetControlLoopParameter (Method)

Overview

Type:	Method
Available as of:	V1.5.1.0

This chapter provides information on:

Functional Description
Interface
Diagnostic Messages

Functional Description

By calling up the method, the present, minimum, and maximum values of the parameter to influence the control loop of the Robot P-Series can be read.

Interface

Input	Data type	Description
i_etName	SER.ET_ControlLoopParameter	Type of control loop parameter.
i_etComponent	SER.ET_RobotPSeriesComponent	Component of the Robot P-Series.

Output	Data type	Description
q_lrValue	LREAL	Present value for the control loop parameter i_etName and for the component i_etComponent.
q_lrMinValue	LREAL	Minimum value for the control loop parameter i_etName and for the component i_etComponent.
q_lrMaxValue	LREAL	Maximum value for the control loop parameter i_etName and for the component i_etComponent.
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	SER.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	Ok	0	Ok
ExecutionAborted	RobotNotInitialized	89	The robot is not initialized.
InputParameterInvalid	ControlLoopParameterInvalid	59	The control loop parameter is invalid.
InputParameterInvalid	RobotPSeriesComponentInvalid	28	The Robot P-Series component is invalid.

ControlLoopParameterInvalid

Enumeration name:	ControlLoopParameterInvalid
Enumeration value:	59
Plain text:	The control loop parameter is invalid.

Issue	Cause	Solution
Reading the control loop parameter was not successful.	The value at the input i_etName is invalid.	Verify that at the input i_etName a valid control loop parameter was transferred.

Ok

Enumeration name:	Ok
Enumeration value:	0
Plain text:	Ok

Reading the control loop parameter was successful.

RobotNotInitialized

Enumeration name:	RobotNotInitialized
Enumeration value:	89
Plain text:	The robot is not initialized.

Issue	Cause	Solution
Reading the control loop parameter was not successful.	The robot is not initialized.	Verify that the robot was initialized successfully.

RobotPSeriesComponentInvalid

Enumeration name:	RobotPSeriesComponentInvalid
Enumeration value:	28
Plain text:	The Robot P-Series component is invalid.

Issue	Cause	Solution
Reading the control loop parameter was not successful.	The value at the input i_etComponent is invalid.	Verify that at the input i_etComponent a valid component was transferred, and adjust if necessary.