IF_ConfigurationAdvanced - GetExternalPositionSourceAccLimit (Method)

Overview

Type	Method
Available as of:	2.14.0.0

This chapter provides information on:

Task
Description
Interface
Return Value
Diagnostic Message

Task

Reading the acceleration limit for a specific component.

Description

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.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent (see EcoStruxure Machine Expert, Robotic, Library Guide)	Component of which the limit should be returned. Valid values: CartesianX CartesianY CartesianZ OrientationX OrientationY OrientationZ AuxAx1... AuxAx10

Output	Data type	Description
q_etDiag	GD.ET_Diag (see EcoStruxure Machine Expert, PD_GlobalDiagnostics, Library Guide)	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 (see EcoStruxure Machine Expert, PD_GlobalDiagnostics, Library Guide)

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.

Return Value

Data type	Description
LREAL	The return value is the acceleration limit for a specific component.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ExternalPositionSourceNotConfigured	388	No external position source is configured for this robot.
InputParameterInvalid	AuxiliaryAxisNotConfigured	148	The auxiliary axis is not configured.
InputParameterInvalid	RobotComponentInvalid	144	The component is invalid.
InputParameterInvalid	ComponentNotConfigured	389	The component is not configured.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	148
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.

ComponentNotConfigured

Enumeration name:	ComponentNotConfigured
Enumeration value:	389
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.

ExternalPositionSourceNotConfigured

Enumeration name:	ExternalPositionSourceNotConfigured
Enumeration value:	387
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(...).

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Setting the state of the robot feedback was successful.

RobotComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	144
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.