IF_RobotPSeries - InitializeRobot (Method)

Overview

Type:	Method
Available as of:	V2.15.0.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Initialize a Lexium P Robot.

Description

By calling up the method, the selected robot type is configured with the corresponding drives. The ET_PSeriesType is the ID-No/UNICODE (VRK...) on the type plate of the robot.

Interface

Input	Data type	Description
i_etRobotType	ET_PSeriesType	Select the robot type.
i_ifDriveA	SystemConfigurationItf.IF_Drive	Drive of axis A.
i_ifDriveB	SystemConfigurationItf.IF_Drive	Drive of axis B.
i_ifDriveC	SystemConfigurationItf.IF_Drive	Drive of axis C.

Output	Data type	Description
q_xRotationalAxisRequired	BOOL	Feedback on whether the robot type selected in i_etRobotType requires a rotational axis. If it is TRUE, InitializeRotationalAxis must be called.
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	Ok	0	Ok
ExecutionAborted	RobotAlreadyInitialized	3	The robot is already initialized.
InputParameterInvalid	DriveInvalid	4	The drive is invalid.
InputParameterInvalid	RobotTypeInvalid	2	The robot type is invalid.
InputParameterInvalid	UnknownRobotType	1	The robot type is indeterminable.
UnexpectedProgramBehavior	UnknownRobotType	1	The robot type is indeterminable.

DriveInvalid

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

Issue	Cause	Solution
The configuration of the Lexium P Robot was unsuccessful.	The interface transferred at the input i_ifDriveA 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
The configuration of the Lexium P Robot was unsuccessful.	The interface transferred at the input i_ifDriveB 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
The configuration of the Lexium P Robot was unsuccessful.	The interface transferred at the input i_ifDriveC 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 Lexium P Robot was unsuccessful.

The interface transferred at the input i_ifDriveA 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

The configuration of the Lexium P Robot was unsuccessful.

The interface transferred at the input i_ifDriveB 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

The configuration of the Lexium P Robot was unsuccessful.

The interface transferred at the input i_ifDriveC 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

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the Lexium P Robot was successful.

RobotAlreadyInitialized

Enumeration name:	RobotAlreadyInitialized
Enumeration value:	3
Description:	The robot is already initialized.

Issue	Cause	Solution
The configuration of the Lexium P Robot was unsuccessful.	The Lexium P Robot is already initialized.	Call the method InitializeRobot only once.

RobotTypeInvalid

Enumeration name:	RobotTypeInvalid
Enumeration value:	2
Description:	The robot type is invalid.

Issue	Cause	Solution
The configuration of the Lexium P Robot was unsuccessful.	The value transferred at the input i_etRobotType is invalid.	Ensure that an element of the enumeration type ET_RobotPSeries other than ET_RobotPSeries.None is transferred.

UnknownRobotType

Enumeration name:	UnknownRobotType
Enumeration value:	1
Description:	The robot type is indeterminable.

Issue	Cause	Solution
The configuration of the Lexium P Robot was unsuccessful.	The value transferred at the input i_etRobotType is indeterminable.	Ensure that an element of the enumeration type ET_RobotPSeries is transferred.