FB_EllipticSpline - SetWorkingPlane (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Setting the working plane of a two-dimensional robot for calculating spline points for an elliptic spline.

Description

While configuring a two-dimensional robot (IF_RobotConfiguration.Cartesian2Ax(…), IF_RobotConfiguration.Delta2Ax(…), etc.), you can define the working plane of the robot. This working plane must also be configured with this method for an elliptic spline to help avoid the diagnostic message q_etDiag = GD.ET_Diag.InputParameterInvalid / q_etDiagExt = ET_DiagExt.TargetInvalid on sending the motion job.

Interface

Input	Data type	Description
i_etPlane	ET_WorkingPlane	Working plane of a two-dimensional robot.

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.

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	PlaneInvalid	107	The plane is invalid.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Setting the working plan was successful.

PlaneInvalid

Enumeration name:	PlaneInvalid
Enumeration value:	107
Description:	The plane is invalid.

Issue	Cause	Solution
Setting the working plan was unsuccessful.	The value transferred at the input i_etPlane is invalid.	At the input i_etPlane, a value contained in ET_WorkingPlane must be transferred.