IF_RobotConfiguration - AddDrive (Method)

Overview

Type:	Method
Available as of:	V3.6.6.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Adds an additional drive to the robot to be used for additional components. The additional components must be enabled and mapped with the help of the methods MapComponentToDrive(...) or AdditionalComponentsTransformation(...).

Description

The method is used to add additional drives to the robot so that these drives can be used for additional components.

To be able to add additional drives, a main transformation must be configured first.

It is not possible to add drives that are already used by the configured main transformation.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Defines the component the drive can be addressed with. Valid values are ET_RobotComponent.AxisA..AxisF. Drives that are already used by the transformation cannot be selected.
i_ifDrive	CMI.IF_AxisIdentification	Drive to be added.

Input

Data type

Description

i_etComponent

ET_RobotComponent

Defines the component the drive can be addressed with.

Valid values are ET_RobotComponent.AxisA..AxisF.

Drives that are already used by the transformation cannot be selected.

i_ifDrive

CMI.IF_AxisIdentification

Drive to be added.

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
ExecutionAborted	ConfigurationAlreadyCompleted	105	The configuration is already completed.
ExecutionAborted	TransformationMissing	113	The transformation is unavailable.
InputParameterInvalid	ComponentAlreadyInUse	254	The selected component is already in use.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	DriveAlreadyInUse	35	The drive is already in use.
InputParameterInvalid	DriveInvalid	92	The drive is invalid.

ComponentAlreadyInUse

Enumeration name:	ComponentAlreadyInUse
Enumeration value:	254
Description:	The selected component is already in use.

Issue	Cause	Solution
The drive was not added to the robot.	The component transferred at the input i_etComponent is already in use by the robot and cannot be used again.	Ensure that no component is assigned to the robot more than once.

ComponentInvalid

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

Issue	Cause	Solution
The drive was not added to the robot.	The component specified on the input i_etComponent is invalid.	Ensure that the value on the input i_etComponent has one of the following values: ET_RobotComponent.AxisA…AxisF.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	105
Description:	The configuration is already completed.

Issue	Cause	Solution
The drive was not added to the robot.	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.

DriveAlreadyInUse

Enumeration name:	DriveAlreadyInUse
Enumeration value:	35
Description:	The drive is already in use.

Issue	Cause	Solution
The drive was not added to the robot.	The drive transferred at the input i_ifDrive is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	92
Description:	The drive is invalid.

Issue	Cause	Solution
The drive was not added to the robot.	The drive that was transferred to the input i_ifDrive is invalid.	Ensure that a valid drive is transferred to the input i_ifDrive.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration was successful.

TransformationMissing

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

Issue	Cause	Solution
The drive was not added to the robot.	There is no transformation configured for the robot.	Ensure that the main transformation was configured successfully before adding further drives.