The method returns the value of the acceleration limit for a specific component. The limit is only effective in case the feature external position source is used.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etComponent |
Component of which the limit should be returned. Valid values:
|
|
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. |
|
Data type |
Description |
|---|---|
|
LREAL |
The return value is the acceleration limit for a specific component. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Ok |
|
ExecutionAborted |
ExternalPositionSourceNotConfigured |
225 |
No external position source is configured for this robot. |
|
InputParameterInvalid |
AuxiliaryAxisNotConfigured |
127 |
The auxiliary axis is not configured. |
|
InputParameterInvalid |
ComponentInvalid |
132 |
The component is invalid. |
|
InputParameterInvalid |
ComponentNotConfigured |
198 |
The component is not configured. |
|
Enumeration name: |
AuxiliaryAxisNotConfigured |
|
Enumeration value: |
127 |
|
Description: |
The auxiliary axis is not configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The read operation of the limit was not successful. |
The auxiliary axis transferred on the input i_etComponent is not configured on this robot. |
Ensure that GetExternalPositionSourceLimit(...) is called only for components that have been successfully configured on this robot. |
|
Enumeration name: |
ComponentInvalid |
|
Enumeration value: |
132 |
|
Description: |
The component is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The read operation of the limit was not successful. |
The component transferred on the input i_etComponent is invalid. |
Ensure that a valid component is transferred at the input i_etComponent. |
|
Enumeration name: |
ComponentNotConfigured |
|
Enumeration value: |
198 |
|
Description: |
The component is not configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The read operation of the limit was not successful. |
The component transferred on the input i_etComponent is not configured for this robot. |
Ensure that you call GetExternalPositionSourceLimit(...) only for components that have been successfully configured on this robot. |
|
Enumeration name: |
ExternalPositionSourceNotConfigured |
|
Enumeration value: |
225 |
|
Description: |
No external position source is configured for this robot. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The read operation of the limit was not successful. |
There is no external position source configured. |
Call ExternalPositionSource(...) before calling GetExternalPositionSourceLimit(...). |