IF_RobotConfiguration - MapComponentToDrive (Method)

Overview

Type:	Method
Available as of:	V3.6.6.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Maps the movement of a robot component directly to a drive.

Description

The method can be used to enable an additional robot component and map its movement directly to a drive that has been added by using the method AddDrive.

To be able to do the mapping, the main transformation must be configured.

Only cartesian and orientation components that are not used by the configured main transformation can be enabled and mapped with this method.

The mapping must target a drive that has been added to the robot by using the method AddDrive and is not used for another component.

A combination of a direct mapping in combination with a transformation for the additional components (refer to the method AdditionalComponentTransformation) is not possible. In case there are components which require a transformation and components with a direct mapping, all components must be handled in the transformation.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Component to be mapped. Valid values are: ET_RobotComponent.CartesianX ET_RobotComponent.CartesianY ET_RobotComponent.CartesianZ ET_RobotComponent.OrientationX ET_RobotComponent.OrientationY ET_RobotComponent.OrientationZ For further information, refer to ET_RobotComponent.
i_etDrive	ET_RobotComponent	Drive the component is mapped to. Valid values are: ET_RobotComponent.AxisA…AxisF

Input

Data type

Description

i_etComponent

ET_RobotComponent

Component to be mapped.

Valid values are:

ET_RobotComponent.CartesianX
ET_RobotComponent.CartesianY
ET_RobotComponent.CartesianZ
ET_RobotComponent.OrientationX
ET_RobotComponent.OrientationY
ET_RobotComponent.OrientationZ

For further information, refer to ET_RobotComponent.

i_etDrive

ET_RobotComponent

Drive the component is mapped to.

Valid values are:

ET_RobotComponent.AxisA…AxisF

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	AdditionalComponentsTransformationConfigured	255	There is already a transformation for the additional components configured.
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.
InputParameterInvalid	DriveNotConfigured	65	The drive is not configured.

AdditionalComponentsTransformationConfigured

Enumeration name:	AdditionalComponentsTransformationConfigured
Enumeration value:	255
Description:	There is already a transformation for the additional components configured.

Issue	Cause	Solution
The mapping was not successful.	There is already a transformation configured for the additional components.	It is not possible to configure a transformation for the additional components and a direct mapping on a robot. In case there are components which require a transformation and components with a direct mapping, all components must be handled in the transformation. For more details refer to, Using IF_AdditionalComponentTransformation.

Issue

Cause

Solution

The mapping was not successful.

There is already a transformation configured for the additional components.

It is not possible to configure a transformation for the additional components and a direct mapping on a robot.

In case there are components which require a transformation and components with a direct mapping, all components must be handled in the transformation.

For more details refer to, Using IF_AdditionalComponentTransformation.

ConfigurationAlreadyCompleted

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

Issue	Cause	Solution
The mapping was not successful.	The configuration of the robot has already been completed. The method ConfigDone(...) has already been called successfully.	Ensure that the method MapComponentToDrive(…) is called before calling the method ConfigDone(…).

ComponentAlreadyInUse

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

Issue	Cause	Solution
The mapping was not successful.	The component selected at the input i_etComponent is already used by the transformation.	Ensure that the component to be mapped is not used by the transformation.
The mapping was not successful.	The component selected at the input i_etComponent is already used by another additional component.	Ensure that the component to be mapped is not used by another additional component.

ComponentInvalid

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

Issue	Cause	Solution
The mapping was not successful.	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.CartesianX ET_RobotComponent.CartesianY ET_RobotComponent.CartesianZ ET_RobotComponent.OrientationX ET_RobotComponent.OrientationY ET_RobotComponent.OrientationZ For further information, refer to ET_RobotComponent.

Issue

Cause

Solution

The mapping was not successful.

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.CartesianX
ET_RobotComponent.CartesianY
ET_RobotComponent.CartesianZ
ET_RobotComponent.OrientationX
ET_RobotComponent.OrientationY
ET_RobotComponent.OrientationZ

For further information, refer to ET_RobotComponent.

DriveAlreadyInUse

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

Issue	Cause	Solution
The mapping was not successful.	The drive selected at the input i_ifDrive is already in use by the transformation.	Ensure that the drive to be mapped is not used by the transformation.
The mapping was not successful.	The drive selected at the input i_ifDrive is already in use for an additional component.	Ensure that the drive to be mapped is not used by another additional component.

DriveInvalid

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

Issue	Cause	Solution
The mapping was not successful.	The drive selected at the input i_etDrive is invalid.	Ensure that a valid drive is selected on the input i_etDrive. Valid values are: ET_RobotComponent.AxisA…AxisF.

Issue

Cause

Solution

The mapping was not successful.

The drive selected at the input i_etDrive is invalid.

Ensure that a valid drive is selected on the input i_etDrive.

Valid values are: ET_RobotComponent.AxisA…AxisF.

DriveNotConfigured

Enumeration name:	DriveNotConfigured
Enumeration value:	65
Description:	The drive is not configured.

Issue	Cause	Solution
The mapping was not successful.	The drive selected at the input i_etDrive was not configured for the robot.	Ensure that the drive to be mapped was configured successfully with the method AddDrive(…).

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 mapping was not successful.	There is no transformation configured for the robot.	Ensure that the main transformation was configured successfully before the mapping of the additional components.