IF_Configuration - SchneiderElectricRobot (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0
Versions:	Current version

NOTE: Using the transformation Delta3Ax requires license points.

License points are only required for library versions earlier than V2.4.0.0. For more information on license points, refer to License Model for PacDrive Software Packages.

For further information, refer to Robotic library ROB.IF_RobotConfiguration.SchneiderElectricRobot.

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Initialize a robot of Schneider Electric.

Description

By calling up the method, the selected robot type is configured.

Interface

Input	Data type	Description
i_ifRobot	ROB.IF_SchneiderElectricRobot	Transfer the Schneider Electric robot, for example a Lexium P Robot, by the instance of SER.FB_RobotPSeries.

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 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

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	AlreadySuccessfullyCalled	258	It has been already successfully called.
ExecutionAborted	ConfigurationAlreadyCompleted	154	The configuration is already completed.
ExecutionAborted	InitializationFailed	259	The initialization is unsuccessful.
ExecutionAborted	TransformationAlreadyConfigured	171	The transformation is already configured.
InputParameterInvalid	InterfaceInvalid	114	An interface is invalid.
UnexpectedProgramBehavior	InterfaceInvalid	114	An interface is invalid.

AlreadySuccessfullyCalled

Enumeration name:	AlreadySuccessfullyCalled
Enumeration value:	258
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.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	154
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.

InitializationFailed

Enumeration name:	InitializationFailed
Enumeration value:	259
Description:	The initialization is unsuccessful.

Issue	Cause	Solution
The configuration of the robot was not successful.	The initialization of the Schneider Electric robot is unsuccessful.	Verify q_sMsg for details.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	114
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.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the robot transformation was successful.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	171
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.