FB_RobotPSeriesParameters - SetLRealParameter (Method)

Overview

Type:	Method
Available as of:	V2.4.0.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Set/overwrite a parameter for a Lexium P Robot.

Description

By calling the method, a parameter contained in the enumeration ET_Parameter can be parametrized.

NOTE: The method must be called after the method FB_RobotPSeries.InitializeRobot has been called but before IF_Configuration.SchneiderElectricRobot (SER.FB_RobotPSeries) of Robotic/RoboticModule is called.

Interface

Input	Data type	Description
i_etName	ET_Parameter	Parameter that must be adapted.
i_lrValue	LREAL	Value of the selected parameter.

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 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.

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 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	ConfigurationAlreadyCompleted	23	The configuration of the robot is already completed.
ExecutionAborted	RobotNotInitialized	6	The robot is not initialized.
InputParameterInvalid	ParameterInvalid	21	The parameter is indeterminable.
InputParameterInvalid	ParameterValueRange	22	The value for the parameter is out of range.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	23
Description:	The configuration of the robot is already completed.

Issue	Cause	Solution
Setting the parameter was unsuccessful.	The configuration of the robot has already been completed. The method SchneiderElectricRobot (...) has already been called up successfully.	Verify that no parameter adaption that has influence on the robot transformation is called after the configuration has been completed.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the rotational axis was successful.

ParameterInvalid

Enumeration name:	ParameterInvalid
Enumeration value:	21
Description:	The parameter is indeterminable.

Issue	Cause	Solution
Setting the parameter was unsuccessful.	The value transferred at the input i_etName is indeterminable.	Verify that an element of the enumeration type ET_Parameter is transferred.

ParameterValueRange

Enumeration name:	ParameterValueRange
Enumeration value:	22
Description:	The value for the parameter is out of range.

Issue	Cause	Solution
Setting the parameter was unsuccessful.	The value transferred at the input i_lrValue is outside the valid range.	Read the message transferred at q_Msg to get the valid range for the user-defined parameter.

RobotNotInitialized

Enumeration name:	RobotNotInitialized
Enumeration value:	6
Description:	The robot is not initialized.

Issue	Cause	Solution
Setting the parameter was unsuccessful.	The Lexium P Robot is not initialized.	Call the method InitializeRobot, and if required the method InitializeRotationalAxis before calling the method SetLRealParameter.