FB_CobotController - MoveC (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 execute a circular movement for the Lexium Cobot.

Description

This method is used to trigger a circular movement of the Lexium Cobot to a user-defined target pose.

Preconditions to execute this command:

The control source of the Lexium Cobot must be Remote. For further information, refer to the method GetControlSource(Method).
The Lexium Cobot arm must be enabled. FB_CobotControllerFeedback.rstData.xRobotEnabled reports the value TRUE.
A protective stop must be released. FB_CobotControllerFeedback.rstData.xProtectiveStop reports the value FALSE.
A collision detection message must be reset. For further information, refer to the method ClearFault(Method).
The Lexium Cobot must not be in hand-guide mode. FB_CobotControllerFeedback.rstData.etMode must not report the value ET_Mode.Drag.
No jog movement must be active. FB_CobotControllerFeedback.rstData.etMode reports the value ET_Mode.Manual. FB_CobotControllerFeedback.rstData.xInPosition reports the value TRUE.
No program must be running. FB_CobotControllerFeedback.rstData.etProgramState must not report the value ET_ProgramState.Running.

The sent command is acknowledged by the Lexium Cobot control either as successful or as unsuccessful.

A successful command is reported by the property xCommandAcknowledged.
An unsuccessful command is reported by the property xCommandFailed. For detailed information verify the diagnostic outputs of the function block and the log data of FB_CobotControllerFeedback.rstData.stLogData.

Interface

Input	Data type	Description
i_lrAcceleration	LREAL	Specifies the acceleration. Unit: [mm/s²] Value range: i_lrAcceleration > 0.0
i_lrArcTransition	LREAL	Specifies the arc transition for the blending of move commands. Unit: [mm] Value range: i_lrArcTransition ≥ 0.0
I_lrSpeed	LREAL	Specifies the maximum speed. Unit: [mm/s] Value range: i_lrSpeed > 0.0
i_stCircularPose	GEM.ST_CartesianPose	Specifies a pose of the robot TCP on the circle.
i_stTargetPose	GEM.ST_CartesianPose	Specifies the target pose of the robot TCP.
i_udiCommandId	BOOL	Specifies the identifier of the move command. It can be retrieved on FB_CobotControllerFeedback.rstData.udiCommandId, if the move command is active.

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	AccelerationRange	39	The acceleration is out of range.
TRUE	ArcTransitionRange	40	The arc transition is out of range.
TRUE	CommandNotAcknowledged	7	The command is not acknowledged.
TRUE	Disabled	1	The function block is disabled.
TRUE	NotConnected	5	A connection to a Lexium Cobot controller is not established.
TRUE	NotReady	4	The function block is not ready to perform commands.
TRUE	SpeedRange	26	The speed is out of range.

AccelerationRange

Enumeration name:	AccelerationRange
Enumeration value:	39
Description:	The acceleration is out of range.

Issue	Cause	Solution
The method was not called successfully.	The value transferred at the input i_lrAcceleration is not within the valid range.	At the input i_lrAcceleration, a value greater than 0.0 must be transferred.

ArcTransitionRange

Enumeration name:	ArcTransitionRange
Enumeration value:	40
Description:	The arc transition is out of range.

Issue	Cause	Solution
The method was not called successfully.	The value transferred at the input i_lrArcTransition is not within the valid range.	At the input i_lrArcTransition, a value greater than or equal to 0.0 must be transferred.

CommandNotAcknowledged

Enumeration name:	CommandNotAcknowledged
Enumeration value:	7
Description:	The command is not acknowledged.

Issue	Cause	Solution
The method was not called successfully.	The previous triggered command is not acknowledged yet. The property xCommandAcknowledged reports the value FALSE.	Ensure that the property xCommandAcknowledged reports the value TRUE before calling a new command.

Issue

Cause

Solution

The method was not called successfully.

The previous triggered command is not acknowledged yet.

The property xCommandAcknowledged reports the value FALSE.

Ensure that the property xCommandAcknowledged reports the value TRUE before calling a new command.

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.

NotConnected

Enumeration name:	NotConnected
Enumeration value:	5
Description:	A connection to a Lexium Cobot controller is not established.

Issue	Cause	Solution
The method was not called successfully.	A connection to a Lexium Cobot controller is not established. The property etConnectionState does not report the value ET_ConnectionState.Connected.	Ensure that a connection to a Lexium Cobot controller is established. To establish a connection to a Lexium Cobot controller call the method Connect or ConnectTLS.

Issue

Cause

Solution

The method was not called successfully.

A connection to a Lexium Cobot controller is not established.

The property etConnectionState does not report the value ET_ConnectionState.Connected.

Ensure that a connection to a Lexium Cobot controller is established.

To establish a connection to a Lexium Cobot controller call the method Connect or ConnectTLS.

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.

SpeedRange

Enumeration name:	SpeedRange
Enumeration value:	26
Description:	The speed is out of range.

Issue	Cause	Solution
The method was not called successfully.	The value transferred at the input i_lrSpeed is not within the valid range.	At the input i_lrSpeed, a value greater than or equal to 0.0 must be transferred.