IF_RobotConfigurationAdvanced - SetTrackingDeviationLimit (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Setting the maximum tracking deviation.

Description

With the method SetTrackingDeviationLimit(…), the maximum tracking deviation along the path or the Cartesian component of the TCP position can be set.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Specification of which maximum tracking deviation has to be set. Valid values are: ET_RobotComponent.All ET_RobotComponent.Space ET_RobotComponent.CartesianAll ET_RobotComponent.CartesianX ET_RobotComponent.CartesianY ET_RobotComponent.CartesianZ ET_RobotComponent.OrientationAll ET_RobotComponent.OrientationX ET_RobotComponent.OrientationY ET_RobotComponent.OrientationZ For further information, refer to ET_RobotComponent.
i_lrValue	LREAL	Maximum tracking deviation (deviation of the position to the reference position). If the maximum tracking deviation is exceeded, then this is notified via the feedback interface. Unit: [Units] Default value: 10.0 Value range: i_lrValue > 0.0
i_lrFactor	LREAL	Factor with which the maximum tracking deviation is evaluated. If the product of tracking deviation and factor is reached or exceeded, then a ControllerStop is triggered for all robot axes. Unit: [-] Default value: 1.0 Value range: i_lrFactor ≥ 1.0

Input

Data type

Description

i_etComponent

ET_RobotComponent

Specification of which maximum tracking deviation has to be set.

Valid values are:

ET_RobotComponent.All
ET_RobotComponent.Space
ET_RobotComponent.CartesianAll
ET_RobotComponent.CartesianX
ET_RobotComponent.CartesianY
ET_RobotComponent.CartesianZ
ET_RobotComponent.OrientationAll
ET_RobotComponent.OrientationX
ET_RobotComponent.OrientationY
ET_RobotComponent.OrientationZ

For further information, refer to ET_RobotComponent.

i_lrValue

LREAL

Maximum tracking deviation (deviation of the position to the reference position). If the maximum tracking deviation is exceeded, then this is notified via the feedback interface.

Unit: [Units]

Default value: 10.0

Value range: i_lrValue > 0.0

i_lrFactor

LREAL

Factor with which the maximum tracking deviation is evaluated.

If the product of tracking deviation and factor is reached or exceeded, then a ControllerStop is triggered for all robot axes.

Unit: [-]

Default value: 1.0

Value range: i_lrFactor ≥ 1.0

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
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	TrackingDeviationFactorRange	119	The tracking deviation factor is out of range.
InputParameterInvalid	TrackingDeviationLimitRange	118	The tracking deviation limit is out of range.

ComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	132
Description:	The component is invalid.

Issue	Cause	Solution
The configuration of the maximum tracking deviation 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.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the maximum tracking deviation was successful.

TrackingDeviationFactorRange

Enumeration name:	TrackingDeviationFactorRange
Enumeration value:	119
Description:	The tracking deviation factor is out of range.

Issue	Cause	Solution
The configuration of the maximum tracking deviation was not successful.	The value transferred at the input i_IrFactor lies outside the valid range.	A value greater than or equal to 1 must be transferred at the input i_lrFactor.

TrackingDeviationLimitRange

Enumeration name:	TrackingDeviationLimitRange
Enumeration value:	118
Description:	The tracking deviation limit is out of range.

Issue	Cause	Solution
The configuration of the maximum tracking deviation was not successful.	The value transferred at the input i_IrValue lies outside the valid range.	A value greater than 0 must be transferred at the input i_lrValue.