IF_Configuration - GetConfiguredDrive (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Reading the configured axes of the robot.

With the method GetConfiguredDrive(…), the configured axes of the robot can be read.

If the axis transferred at the i_etComponent input is configured, then the SystemConfigurationItf.IF_Drive interface of the axis is issued.

Input	Data type	Description
i_etComponent	ROB.ET_RobotComponent	Specifies which configured axis must read. Valid values are: ROB.ET_RobotComponent.AxisA ROB.ET_RobotComponent.AxisB ROB.ET_RobotComponent.AxisC ROB.ET_RobotComponent.AxisD ROB.ET_RobotComponent.AxisE ROB.ET_RobotComponent.AxisF ROB.ET_RobotComponent.AuxAx1 ... AuxAx10

Input

Data type

Description

i_etComponent

Specifies which configured axis must read.

Valid values are:

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 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 additional information on the diagnostic state.
q_lrPeriodStart	LREAL	Configured position of the auxiliary axis where the period starts.
q_lrPeriodLength	LREAL	Configured length of the auxiliary axis period.

Data type	Description
SystemConfigurationItf.IF_Drive	SystemConfigurationItf.IF_Drive interface of the configured axis.

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	DriveNotConfigured	116	The drive is not configured.
OK	Ok	0	Ok
InputParameterInvalid	RobotComponentInvalid	144	The robot component is invalid.

Reading the configured axis was not successful.

The axis transferred at the input i_etComponent is not configured.

Reading the configured axis was successful.

Enumeration name:	RobotComponentInvalid
Enumeration value:	144
Description:	The robot component is invalid.

Issue	Cause	Solution
Reading the configured axis was not successful.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component has been transferred.