IF_RobotConfiguration - ConfigDone (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Verify and complete the configuration of the robot.

Description

With the method ConfigDone(...), the configuration of the robot can be verified and completed.

Did all necessary configurations take place?
Are those configurations valid?

If the configuration is valid and complete, then the xConfigDone property is set to the value TRUE.

Interface

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on 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 GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on 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
ConfigurationFailed	EmergencyParameterInvalid	114	The emergency parameters are invalid.
ConfigurationFailed	EmergencyParameterMissing	115	The emergency parameters are unavailable.
ConfigurationFailed	MotionParameterMissing	206	A motion parameter is not available.
ConfigurationFailed	SchneiderElectricRobotFailed	157	Executing a Schneider Electric robot was not successful.
ConfigurationFailed	TrackingStopParametersMissing	217	The stop parameters for a tracking system are not set.
ConfigurationFailed	TransformationInvalid	112	The transformation is invalid.
ConfigurationFailed	TransformationMissing	113	The transformation is unavailable.
ConfigurationFailed	UnusedDrives	258	There are unused drives configured for the robot.

EmergencyParameterInvalid

Enumeration name:	EmergencyParameterInvalid
Enumeration value:	114
Description:	The emergency parameters are invalid.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	The configuration of the emergency parameter of the robot is invalid.	Call the configuration for the emergency parameter SetEmergencyParameter(...) again.

EmergencyParameterMissing

Enumeration name:	EmergencyParameterMissing
Enumeration value:	115
Description:	The emergency parameters are unavailable.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	No emergency parameter of the robot has been configured yet.	Call a configuration of the emergency parameter SetEmergencyParameter(...) before calling ConfigDone(...).

MotionParameterMissing

Enumeration name:	MotionParameterMissing
Enumeration value:	206
Description:	A motion parameter is not available.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	An external position source is configured but no motion parameters of the robot have been configured yet.	Call the method IF_RobotMotion.SetMotionParameter(...) before calling ConfigDone(...).

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the robot is valid, complete, and finished now.

SchneiderElectricRobotFailed

Enumeration name:	SchneiderElectricRobotFailed
Enumeration value:	157
Description:	Executing a Schneider Electric robot was not successful.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	The configuration of the Schneider Electric robot was unsuccessful.	Verify q_sMsg for details.

TrackingStopParametersMissing

Enumeration name:	TrackingStopParametersMissing
Enumeration value:	217
Description:	The stop parameters for a tracking system are not set.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	There are no stop parameters set for at least one tracking system.	Call the method SetTrackingStopParameters for all tracking systems at least once and set all parameters to valid values.

TransformationInvalid

Enumeration name:	TransformationInvalid
Enumeration value:	112
Description:	The transformation is invalid.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	A configuration of the robot transformation is invalid.	Call a new configuration for a transformation.

TransformationMissing

Enumeration name:	TransformationMissing
Enumeration value:	113
Description:	The transformation is unavailable.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	No transformation of the robot has been configured yet.	Call a configuration for a transformation, for example Delta3Ax(...) before calling ConfigDone(...).

UnusedDrives

Enumeration name:	TransformationMissing
Enumeration value:	258
Description:	There are unused drives configured for the robot.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	There are drives added to the robot without a mapping to a robot component.	When one or more additional drives are added to the robot with the method AddDrive(…), all drives must be mapped to components with the methods MapComponentToDrive(…) or AdditionalComponentsTransformation(…) before ConfigDone(…) can be called.