Setting additional parameters of the functionality to limit the resulting acceleration of space movement.
Calling the method SetResAccLimitParameters(…) you can set additional parameters of the functionality Resultant Acceleration Limitation Space.
Modified parameters become active for the next new connected path after calling this method.
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Input |
Data type |
Description |
|---|---|---|
|
i_stParameters |
Additional parameters of the functionality Resultant Acceleration Limitation Space. |
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Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
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. |
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q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
Ok |
Ok |
0 |
Ok |
|
ExecutionAborted |
ExternalPositionSourceConfigured |
205 |
The external position source is configured. |
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Enumeration name: |
ExternalPositionSourceConfigured |
|
Enumeration value: |
205 |
|
Description: |
The external position source is configured. |
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Issue |
Cause |
Solution |
|---|---|---|
|
Setting the additional parameters was unsuccessful. |
An external position source for the robot components cartesian, orientation and auxiliary axes is configured. |
Setting the additional parameters is not possible when an external position source for the robot components is configured. Do not set the additional parameters. |