|
Type: |
Function block |
|
Available as of: |
V.2.16.2.0 |
|
Inherits from: |
SERP.FB_RobotSCARAParameters.InitializeRobot() |
This chapter provides information on:
Function block to control a Lexium SCARA Robot.
The initialization is performed using the inherited method SERP.FB_RobotSCARAParameters.InitializeRobot().
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
DriveSuccessfulPrepared |
13 |
The drive is successfully prepared. |
|
OK |
VirtualDrives |
11 |
The drives are virtual. |
|
ConfigurationFailed |
DriveNotPrepared |
14 |
The drive is not prepared. |
|
ExecutionAborted |
ConfigurationListATInvalid |
134 |
The configuration list (ConfigurationListAT) is invalid. |
|
ExecutionAborted |
ConfigurationListMDTInvalid |
135 |
The configuration list (ConfigurationListMDT) is invalid. |
|
ExecutionAborted |
DirectionInvalid |
64 |
The Direction is invalid. |
|
ExecutionAborted |
DriveInvalid |
5 |
The drive is invalid. |
|
ExecutionAborted |
FeedConstantInvalid |
65 |
The FeedConstant is invalid. |
|
ExecutionAborted |
GearInInvalid |
62 |
The GearIn is invalid. |
|
ExecutionAborted |
GearOutInvalid |
63 |
The GearOut is invalid. |
|
ExecutionAborted |
InterfaceInvalid |
3 |
The Interface is invalid. |
|
ExecutionAborted |
MissingProgramCall |
32 |
The program call is unavailable. |
|
ExecutionAborted |
TaskIntervalInvalid |
31 |
The interval of the task is invalid. |
|
ExecutionAborted |
VendorIdInvalid |
133 |
The vendor ID (VendorDeviceId) is invalid. |
|
ExecutionAborted |
YOffsetEnableInvalid |
83 |
YOffsetEnable is invalid. |
|
Enumeration name: |
ConfigurationListATInvalid |
|
Enumeration value: |
134 |
|
Description: |
The configuration list (ConfigurationListAT) is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The Drive is not prepared for execution. |
The string 'S-0-0051.0.0;S-0-0189.0.0' is not available in the parameter ConfigurationListAT of the drive. |
Write 'S-0-0051.0.0;S-0-0189.0.0' to the parameter ConfigurationListAT of the drive, including the apostrophes. |
|
Enumeration name: |
ConfigurationListMDTInvalid |
|
Enumeration value: |
135 |
|
Description: |
The configuration list (ConfigurationListMDT) is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The Drive is not prepared for execution. |
The string 'S-0-0047.0.0' is unavailable in the parameter ConfigurationListMDT of the drive. |
Write 'S-0-0047.0.0' to the parameter ConfigurationListMDT of the drive, including the apostrophes. |
|
Enumeration name: |
DirectionInvalid |
|
Enumeration value: |
64 |
|
Description: |
The Direction is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The parameter Direction of the drive is invalid |
The parameter Direction of the drive has been changed. |
Refer to the property sMsg for expected value. |
|
Enumeration name: |
DriveInvalid |
|
Enumeration value: |
5 |
|
Description: |
The drive is invalid. |
An invalid drive has been configured.
|
Enumeration name: |
DriveSuccessfulPrepared |
|
Enumeration value: |
13 |
|
Description: |
The drive is successfully prepared. |
The drive is successfully prepared for execution.
|
Enumeration name: |
FeedConstantInvalid |
|
Enumeration value: |
65 |
|
Description: |
The FeedConstant is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The parameter FeedConstant of the drive is invalid |
The parameter FeedConstant of the drive has been adapted. |
Refer to the property sMsg for expected value. |
|
Enumeration name: |
GearInInvalid |
|
Enumeration value: |
62 |
|
Description: |
The GearIn is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The parameter GearIn of the drive is invalid |
The parameter GearIn of the drive has been adapted. |
Refer to the property sMsg for expected value. |
|
Enumeration name: |
GearOutInvalid |
|
Enumeration value: |
63 |
|
Description: |
The GearOut is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The parameter GearOut of the drive is invalid |
The parameter GearOut of the drive has been adapted. |
Refer to the propertysMsg for expected value. |
|
Enumeration name: |
InterfaceInvalid |
|
Enumeration value: |
3 |
|
Description: |
The Interface is invalid. |
An incorrect program behavior occurred. An interface is invalid.
|
Enumeration name: |
MissingProgramCall |
|
Enumeration value: |
32 |
|
Description: |
The program call is unavailable. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The program call is unavailable. |
The program SR_SlowCyclicExecution is not called in a cyclic task. |
Call the program SR_SlowCyclicExecution in a cyclic task. |
|
Enumeration name: |
TaskIntervalInvalid |
|
Enumeration value: |
31 |
|
Description: |
The interval of the task is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
SR_SlowCyclicExecution is called with an invalid task interval. |
The task that calls SR_SlowCyclicExecution has an invalid task interval. |
Call SR_SlowCyclicExecution in a task with a 10 ms interval. |
|
Enumeration name: |
VendorIdInvalid |
|
Enumeration value: |
133 |
|
Description: |
The vendor ID (VendorDeviceId) is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The Drive is not prepared for execution. |
LXMRSP robot is not available in the parameter VendorDeviceId. |
Contact your local Schneider Electric representative. |
|
Enumeration name: |
VirtualDrives |
|
Enumeration value: |
11 |
|
Description: |
The drives are virtual. |
Drives are virtual.
|
Enumeration name: |
YOffsetEnableInvalid |
|
Enumeration value: |
83 |
|
Description: |
YOffsetEnable is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The parameter YOffsetEnable is invalid. |
YOffsetEnable is active. |
Do not use the parameter YOffsetEnable. |
|
Name |
Description |
|---|---|
|
Verifies whether a given coordinate is within the robot work envelope. |
|
|
Gets the configuration data for the EcoStruxure Machine Expert Twin communication of the Lexium SCARA Robot. |
|
|
Registers the FB_RobotSCARA to the Application Logger. |
|
|
Sets the configuration data for the EcoStruxure Machine Expert Twin communication of the Lexium SCARA Robot. |
|
Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
etDiag |
Read |
General library-independent statement of the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
etDiagExt |
Read |
POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message |
|
|
ifSchneiderElectricRobot |
ROB.IF_SchneiderElectricRobot |
Read |
Gets the interface for the configuration method ROB.IF_RobotConfiguration.SchneiderElectricRobot |
|
sMsg |
STRING[80] |
Read |
Event-triggered message that gives more information on the diagnostic state. |
|
xAxesConfigured |
BOOL |
Read |
TRUE: The axes are configured successfully. |
|
xDiagQuit |
BOOL |
Read/write |
A rising edge FALSE to TRUE acknowledges diagnostic messages. |
|
xDisableWorkEnvelopeMoveCmds |
BOOL |
Read/write |
TRUE: Disables the verification when sending move commands to the robot. Default value: FALSE If xDisableWorkEnvelopeMoveCmds is TRUE, and the robot is outside the work envelope, the robot accepts the move commands and returns ET_Diag = Ok. The robot starts the movement but will immediately stop. |
|
xRobotInWorkEnvelope |
BOOL |
Read |
It is used to verify if the robot TCP is inside the work envelope. TRUE: The robot TCP is inside the work envelope. FALSE: The robot TCP is outside the work envelope. The feedback is updated in the task SR_SlowCyclicExecution. Therefore, there might be a delay of a few milliseconds until the property shows the correct value. |