FB_CobotController - ConnectTLS (Method)

Overview

Type:	Method
Available as of:	V1.0.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

The function block is used to establish a connection to the TCP server of a Lexium Cobot controller using TLS encryption.

Description

The method establishes a connection to the TCP server of a Lexium Cobot controller using TLS encryption.

The TCP server of the Lexium Cobot controller is specified by its IP address.

Port 10001 (refer to Gc_uiPortCobotController) is used to establish a connection to a Lexium Cobot controller.

For further information, refer to Using the Library - Using TLS Certificate on TCP Connection with TLS.

Interface

Input	Data type	Description
i_sIpAddress	STRING[15]	IP address of the Lexium Cobot controller to connect to. The IP address must be provided in a IPv4 format.

Input

Data type

Description

i_sIpAddress

STRING[15]

IP address of the Lexium Cobot controller to connect to.

The IP address must be provided in a IPv4 format.

Output	Data type	Description
q_xError	BOOL	Value is TRUE if an error was detected. For details, refer to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information as a numeric value. If q_xError = FALSE, q_etResult provides status information. If q_xError = TRUE, q_etResult provides diagnostic/error information.
q_sResultMsg	STRING[80]	Provides additional diagnostic and status information as a text value.

Output

Data type

Description

q_xError

BOOL

Value is TRUE if an error was detected. For details, refer to q_etResult and q_sResultMsg.

q_etResult

ET_Result

Provides diagnostic and status information as a numeric value.

If q_xError = FALSE, q_etResult provides status information. If q_xError = TRUE, q_etResult provides diagnostic/error information.

q_sResultMsg

STRING[80]

Provides additional diagnostic and status information as a text value.

Diagnostic Messages

q_xError	q_etResult	Enumeration value	Description
FALSE	Ok	0	The method was called successfully.
TRUE	IpAddressInvalid	10	The IP address is invalid.
TRUE	StateInvalid	11	The state is invalid.
FALSE or TRUE	AlreadyConnected	6	A connection to a Lexium Cobot controller is already established.
TRUE	Disabled	1	The function block is disabled.
TRUE	NotReady	4	The function block is not ready to perform commands.

AlreadyConnected

Enumeration name:	AlreadyConnected
Enumeration value:	6
Description:	A connection to a Lexium Cobot controller is already established.

Issue	Cause	Solution
The output q_xError is FALSE: The method was called successfully.	The function block is already connected to the corresponding Lexium Cobot controller IP address provided at the input i_sIpAddress.	–
The output q_xError is TRUE: The method was not called successfully.	The function block is already connected to a Lexium Cobot controller with a different IP address as provided at the input i_sIpAddress.	Ensure that the function block is connected to a Lexium Cobot controller.

Issue

Cause

Solution

The output q_xError is FALSE:

The method was called successfully.

The function block is already connected to the corresponding Lexium Cobot controller IP address provided at the input i_sIpAddress.

–

The output q_xError is TRUE:

The method was not called successfully.

The function block is already connected to a Lexium Cobot controller with a different IP address as provided at the input i_sIpAddress.

Ensure that the function block is connected to a Lexium Cobot controller.

Disabled

Enumeration name:	Disabled
Enumeration value:	1
Description:	The function block is disabled.

Issue	Cause	Solution
The method was not called successfully.	The function block is disabled. A disabled function block does not execute any actions and all outputs are set to the default value.	Ensure that the function block is enabled. Enable the function block by setting the input i_xEnable to TRUE. The function block will report TRUE at its outputs q_xActive and q_xReady after the enable routine is successfully finished.

Issue

Cause

Solution

The method was not called successfully.

The function block is disabled.

A disabled function block does not execute any actions and all outputs are set to the default value.

Ensure that the function block is enabled.

Enable the function block by setting the input i_xEnable to TRUE. The function block will report TRUE at its outputs q_xActive and q_xReady after the enable routine is successfully finished.

IpAddressInvalid

Enumeration name:	IpAddressInvalid
Enumeration value:	10
Description:	The IP address is invalid.

Issue	Cause	Solution
The method was not called successfully.	The given string at the input i_sIpAddress is not a valid IP address in IPv4 format.	Ensure that a valid IP address in IPv4 format is provided at the input i_sIpAddress.

NotReady

Enumeration name:	NotReady
Enumeration value:	4
Description:	The function block is not ready to perform commands.

Issue	Cause	Solution
The method was not called successfully.	The function block reports FALSE at the output q_xReady because a detected error is reported. In case a sent command was acknowledged by the Lexium Cobot controller with a detected error, the property xCommandFailed reports the value TRUE in addition.	Verify the diagnostic outputs of the function block and solve the root cause of the detected error. A rising edge at the input i_xErrorQuit will reset the detected error.

Issue

Cause

Solution

The method was not called successfully.

The function block reports FALSE at the output q_xReady because a detected error is reported.

In case a sent command was acknowledged by the Lexium Cobot controller with a detected error, the property xCommandFailed reports the value TRUE in addition.

Verify the diagnostic outputs of the function block and solve the root cause of the detected error.

A rising edge at the input i_xErrorQuit will reset the detected error.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	The method was called successfully.

StateInvalid

Enumeration name:	StateInvalid
Enumeration value:	11
Description:	The state is invalid.

Issue	Cause	Solution
The method was not called successfully.	The function block is already connecting to a Lexium Cobot controller. The property etConnectionState reports the value ET_ConnectionState.Connecting.	Ensure to not call the method twice to establish a connection to a Lexium Cobot controller.
The function block is disconnecting from a Lexium Cobot controller. The property etConnectionState reports the value ET_ConnectionState.Disconnecting.	Ensure that the property etConnectionState reports the value ET_ConnectionState.Idle before calling the method Connect to establish a connection to a Lexium Cobot controller.

Issue

Cause

Solution

The method was not called successfully.

The function block is already connecting to a Lexium Cobot controller.

The property etConnectionState reports the value ET_ConnectionState.Connecting.

Ensure to not call the method twice to establish a connection to a Lexium Cobot controller.

The function block is disconnecting from a Lexium Cobot controller.

The property etConnectionState reports the value ET_ConnectionState.Disconnecting.

Ensure that the property etConnectionState reports the value ET_ConnectionState.Idle before calling the method Connect to establish a connection to a Lexium Cobot controller.