FB_RobotSCARA - GetDigitalTwinConfigData (Method)

Overview

This chapter provides information on:

Get the configuration data for the EcoStruxure Machine Expert Twin communication of the Lexium SCARA Robot.

By calling the method, the configuration data for the OPC UA data structure of the Lexium SCARA Robot can be read.

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.
q_stData	DTC.ST_ConfigDataRobotSCARA	Read out the data that have been configured to emulate this robot in EcoStruxure Machine Expert Twin.

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	OK	0	Successful
ExecutionAborted	RobotNotInitialized	89	The robot is not initialized.
ExecutionAborted	DigitalTwinConfigDataNotSet	128	Configuration data for EcoStruxure Machine Expert Twin has not been set.

Issue	Cause	Solution
Reading the EcoStruxure Machine Expert Twin configuration parameter was unsuccessful.	The robot is not initialized.	Verify that the robot has been initialized successfully.

Enumeration name:	DigitalTwinConfigDataNotSet
Enumeration value:	128
Description:	Configuration data for EcoStruxure Machine Expert Twin have not been set.

Issue	Cause	Solution
Reading the EcoStruxure Machine Expert Twin configuration parameters was unsuccessful.	The EcoStruxure Machine Expert Twin configuration parameters have not been set	Verify that the method SetDigitalTwinConfigData has been called successfully.