IF_SoftwareLimit - SetLimits (Method)

Overview

Type:	Method
Available as of:	1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

The method writes the limits.

Description

The method is writing the limits for every robot component.

It should be ensured that i_lrLimitPositive > i_lrLimitNegative. Note that i_lrLimitPositive may also be <0 as well as i_lrLimitNegative >0, as long as the condition i_lrLimitPositive > i_lrLimitNegative is given.

With i_lrLimitPositive = i_lrLimitNegative = 0 set, the limits can be reset again.

Interface

Input	Data type	Description
i_etComponent	ROB.ET_RobotComponent	Robot component for the limits that have to be read. Valid values are: ET_RobotComponent.CartesianAll ET_RobotComponent.CartesianX ET_RobotComponent.CartesianY ET_RobotComponent.CartesianZ ET_RobotComponent.AuxAxAll ET_RobotComponent.AuxAx1 ... AuxAx10 ET_RobotComponent.OrientationAll ET_RobotComponent.OrientationX ET_RobotComponent.OrientationY ET_RobotComponent.OrientationZ
i_lrLimitPositive	LREAL	Positive/upper limit.
i_lrLimitNegative	LREAL	Negative/lower limit.

Input

Data type

Description

i_etComponent

ROB.ET_RobotComponent

Robot component for the limits that have to be read.

Valid values are:

ET_RobotComponent.CartesianAll
ET_RobotComponent.CartesianX
ET_RobotComponent.CartesianY
ET_RobotComponent.CartesianZ
ET_RobotComponent.AuxAxAll
ET_RobotComponent.AuxAx1 ... AuxAx10
ET_RobotComponent.OrientationAll
ET_RobotComponent.OrientationX
ET_RobotComponent.OrientationY
ET_RobotComponent.OrientationZ

i_lrLimitPositive

LREAL

Positive/upper limit.

i_lrLimitNegative

LREAL

Negative/lower limit.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.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 unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = GD.ET_Diag.Ok -> Status message

q_etDiag <> GD.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
InputParameterInvalid	LimitsInvalid	117	There are invalid limits.
InputParameterInvalid	RobotComponentInvalid	144	The robot component is invalid.

LimitsInvalid

Enumeration name:	LimitsInvalid
Enumeration value:	117
Description:	There are invalid limits.

Issue	Cause	Solution
Setting the software limit was not successful.	The value transferred at the input i_lrLimitPositive or i_lrLimitNegative is invalid.	If one of the values is set unequal to 0, the value of i_lrLimitPositive has to be greater than i_lrLimitNegative.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Setting the software limit was successful.

RobotComponentInvalid

Enumeration name:	RobotComponentInvalid
Enumeration value:	144
Description:	The robot component is invalid.

Issue	Cause	Solution
Setting the software limit was not successful.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component has been transferred.