IF_RobotConfigurationAdvanced - SetExternalPositionSourceAccLimit (Method)

Overview

Type:	Method
Available as of:	V3.3.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Setting a limit for the acceleration of the external position source.

Description

If a value greater than zero is set for at least one of the robot components, the acceleration of these components is calculated from the positions sent to the robot using the IF_ExternalPositionSource.WriteRefValues() method.

If the calculated acceleration is greater than the specified limit for one of the components, a control stop is initiated for all configured robot axes. In addition, the robot reports the exception ExternalPositionSourceAccLimitExceeded.

The method can be called at any time after a successful configuration of a transformation and the new value is effective immediately.

It is possible to turn off the verification for a component with a value less than or equal to zero at the i_lrAccLimit input.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Component(s) the limit should be set. Valid values: All CartesianAll CartesianX CartesianY CartesianZ OrientationAll OrientationX OrientationY OrientationZ AuxAxAll AuxAx1... AuxAx10
i_lrValue	LREAL	Maximum acceleration for the selected component . A value ≤ 0 disables the limit for the given component. A value > 0 enables the limit for the given component.

Input

Data type

Description

i_etComponent

ET_RobotComponent

Component(s) the limit should be set.

Valid values:

All
CartesianAll
CartesianX
CartesianY
CartesianZ
OrientationAll
OrientationX
OrientationY
OrientationZ
AuxAxAll
AuxAx1... AuxAx10

i_lrValue

LREAL

Maximum acceleration for the selected component .

A value ≤ 0 disables the limit for the given component.

A value > 0 enables the limit for the given component.

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
ExecutionAborted	TransformationMissing	113	The transformation is unavailable.
ExecutionAborted	ExternalPositionSourceNotConfigured	225	No external position source is configured for this robot.
InputParameterInvalid	AuxiliaryAxisNotConfigured	127	The auxiliary axis is not configured.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	ComponentNotConfigured	198	The component is not configured.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	127
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
The configuration of the limit was not successful.	The auxiliary axis transferred on the input i_etComponent is not configured on this robot.	Ensure that SetExternalPositionSourceLimit(...) is called only for components that have been successfully configured on this robot.

ComponentInvalid

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

Issue	Cause	Solution
The configuration of the limit was not successful.	The component transferred on the input i_etComponent is invalid.	Ensure that a valid component is transferred at the input i_etComponent.

ComponentNotConfigured

Enumeration name:	ComponentNotConfigured
Enumeration value:	198
Description:	The component is not configured.

Issue	Cause	Solution
The configuration of the limit was not successful.	The component transferred on the input i_etComponent is not configured for this robot.	Ensure that you call SetExternalPositionSourceLimit(...) only for components that have been successfully configured on this robot.

ExternalPositionSourceNotConfigured

Enumeration name:	ExternalPositionSourceNotConfigured
Enumeration value:	225
Description:	No external position source is configured for this robot.

Issue	Cause	Solution
The configuration of the limit was not successful.	There is no external position source configured.	Call ExternalPositionSource(...) before calling SetExternalPositionSourceLimit(...).

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Setting the state of the robot feedback was successful.

TransformationMissing

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

Issue	Cause	Solution
The configuration of the limit was not successful.	No transformation has been configured yet.	Call a configuration for a transformation, for example Delta3Ax(...) before calling SetExternalPositionSourceLimit(...).