|
Type: |
Method |
|
Available as of: |
V1.3.0.0 |
|
Versions: |
Current version |
License points are only required for library versions earlier than V2.6.1.0. For more information on license points, refer to License Model for PacDrive Software Packages.
Number of license points: 25
License string: ROB.Delta3Ax
The license points are requested during a successful call of the configuration method.
This chapter provides information on:
Initialize a robot of Schneider Electric.
This method is not supported by Modicon M262 Motion Controllers.
|
Input |
Data type |
Description |
|---|---|---|
|
i_ifRobot |
IF_SchneiderElectricRobot |
Transfer the Schneider Electric robot, for example the Lexium P Robot, by the instance of SER.FB_RobotPSeries. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General, library-independent statement on the diagnostic. A value not equal to GD.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. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Ok |
|
ExecutionAborted |
AlreadySuccessfullyCalled |
158 |
It has been already successfully called. |
|
ExecutionAborted |
ConfigurationAlreadyCompleted |
105 |
The configuration is already completed. |
|
ExecutionAborted |
InitializationFailed |
4 |
The initialization was unsuccessful. |
|
ExecutionAborted |
TransformationAlreadyConfigured |
106 |
The transformation is already configured. |
|
InputParameterInvalid |
InterfaceInvalid |
3 |
An interface is invalid. |
|
UnexpectedProgramBehavior |
InterfaceInvalid |
3 |
An interface is invalid. |
|
Enumeration name: |
AlreadySuccessfullyCalled |
|
Enumeration value: |
158 |
|
Description: |
It has been already successfully called. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the robot was not successful. |
The configuration of the Schneider Electric robot has already been completed. The method SchneiderElectricRobot(...) has already been called up successfully. |
Ensure that the configuration method SchneiderElectricRobot() is called only once. |
|
Enumeration name: |
ConfigurationAlreadyCompleted |
|
Enumeration value: |
105 |
|
Description: |
The configuration is already completed. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the robot transformation was not successful. |
The configuration of the robot has already been completed. The method ConfigDone(...) has already been called up successfully. |
Ensure that no transformation configuration method, for example Delta3Ax(...) or AddAuxAx(...), is called after the configuration has been completed. |
|
Enumeration name: |
InitializationFailed |
|
Enumeration value: |
4 |
|
Description: |
The initialization was unsuccessful. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the robot was not successful. |
The initialization of the Schneider Electric robot was not successful. |
Verify q_sMsg for details. |
|
Enumeration name: |
InterfaceInvalid |
|
Enumeration value: |
3 |
|
Description: |
An interface is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the robot was not successful. |
No valid interface has been applied at the input i_ifRobot. |
A valid interface must be transferred to the input i_ifRobot. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
The configuration of the robot was successful.
|
Enumeration name: |
TransformationAlreadyConfigured |
|
Enumeration value: |
106 |
|
Description: |
The transformation is already configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the robot was not successful. |
The configuration of the robot transformation has already been completed successfully. |
Ensure that a configuration for a transformation is only called once. |