FB_RobotPSeriesParameters - InitializeRotationalAxis (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Initialize a rotational axis of the robot.

Description

By calling up the method, a rotational axis is added to the robot type that is selected by the method InitializeRobot.

Interface

Input	Data type	Description
i_ifDrive	SystemConfigurationItf.IF_Drive	Drive of a rotational axis.
i_lrPeriodStart	LREAL	Position of the rotational axis where the period starts. Further information can be found under ROB.IF_RobotConfiguration.AddAuxAx of the library Robotic.
i_lrPeriodLength	LREAL	Length of the rotational axis period. Value range: i_lrPeriodLength ≥ 0.0 i_lrPeriodLength = 0.0 -> The auxiliary axis does not have a period. The value entered in i_lrPeriodStart is ignored.

Input

Data type

Description

i_ifDrive

SystemConfigurationItf.IF_Drive

Drive of a rotational axis.

i_lrPeriodStart

LREAL

Position of the rotational axis where the period starts.

Further information can be found under ROB.IF_RobotConfiguration.AddAuxAx of the library Robotic.

i_lrPeriodLength

LREAL

Length of the rotational axis period.

Value range: i_lrPeriodLength ≥ 0.0

i_lrPeriodLength = 0.0 -> The auxiliary axis does not have a period. The value entered in i_lrPeriodStart is ignored.

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

q_etDiagExt

ET_DiagExt

POU-specific output for 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	NoRotationalAxisRequired	11	There is no rotational axis required.
OK	Ok	0	Ok
ExecutionAborted	FourthAxisAlreadyConfigured	24	The fourth axis is already configured.
ExecutionAborted	RobotNotInitialized	6	The robot is not initialized.
InputParameterInvalid	DriveInvalid	4	The drive is invalid.
InputParameterInvalid	PeriodLengthRange	9	The period length is out of range.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	4
Description:	The drive is invalid.

Issue	Cause	Solution
The configuration of the rotational axis was unsuccessful.	The interface transferred at the input i_ifDrive is invalid.	Ensure that the transferred interface is an interface of a valid drive. The following interfaces have to be implemented by the drive object: SystemConfigurationItf.IF_Mechanic SystemConfigurationItf.IF_SetLimits SystemConfigurationItf.IF_Motor SystemConfigurationItf.IF_ControlLoop SystemConfigurationItf.IF_RefActualValues SystemConfigurationItf.IF_ControlMode SystemConfigurationItf.IF_EncoderGear SystemConfigurationItf.IF_EncoderDirection SystemConfigurationItf.IF_Brake SystemConfigurationItf.IF_YoffsetGenerator

Issue

Cause

Solution

The configuration of the rotational axis was unsuccessful.

The interface transferred at the input i_ifDrive is invalid.

Ensure that the transferred interface is an interface of a valid drive.

The following interfaces have to be implemented by the drive object:

SystemConfigurationItf.IF_Mechanic
SystemConfigurationItf.IF_SetLimits
SystemConfigurationItf.IF_Motor
SystemConfigurationItf.IF_ControlLoop
SystemConfigurationItf.IF_RefActualValues
SystemConfigurationItf.IF_ControlMode
SystemConfigurationItf.IF_EncoderGear
SystemConfigurationItf.IF_EncoderDirection
SystemConfigurationItf.IF_Brake
SystemConfigurationItf.IF_YoffsetGenerator

FourthAxisAlreadyConfigured

Enumeration name:	FourthAxisAlreadyConfigured
Enumeration value:	24
Description:	The fourth axis is already configured.

Issue	Cause	Solution
The configuration of OrientationZ was unsuccessful	A method to configure the fourth axis was already called successfully.	Call only one of the methods InitializeRotationalAxis or InitializeOrientationZ.
The configuration of OrientationZ was unsuccessful		Call the method RotationalAxis only once.

NoRotationalAxisRequired

Enumeration name:	NoRotationalAxisRequired
Enumeration value:	11
Description:	There is no rotational axis required.

Configuring the rotational axis is not necessary.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the rotational axis was successful.

PeriodLengthRange

Enumeration name:	PeriodLengthRange
Enumeration value:	9
Description:	The period length is out of range.

Issue	Cause	Solution
The configuration of the rotational axis was unsuccessful.	The value transferred at the input i_lrPeriodLength is outside of the valid range.	At the input i_lrPeriodLength, a value greater than or equal to 0 must be transferred.

RobotNotInitialized

Enumeration name:	RobotNotInitialized
Enumeration value:	6
Description:	The robot is not initialized.

Issue	Cause	Solution
The configuration of the rotational axis was unsuccessful.	The Lexium P Robot is not initialized.	Call the method InitializeRobot before calling the method InitializeRotationalAxis.