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

Overview

Type:	Method
Available as of:	V1.5.0.0

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 Lexium T Robot can be read.

Interface

Input	Data type	Description
i_etName	SER.ET_ControlLoopParameter	Type of control loop parameter.
i_etComponent	SER.ET_RobotTSeriesComponent	Component of the Lexium T Robot.

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	RobotTSeriesComponentInvalid	90	The Lexium T Robot 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 unsuccessful.	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 unsuccessful.	The robot is not initialized.	Verify that the robot was initialized successfully.

RobotTSeriesComponentInvalid

Enumeration name:	RobotTSeriesComponentInvalid
Enumeration value:	90
Plain text:	The Lexium T Robot component is invalid.

Issue	Cause	Solution
Reading the control loop parameter was unsuccessful.	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.