FB_RobotTSeriesParameters - InitializeRobot (Method)

Overview

Type:	Method
Available as of:	V2.0.0.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Initialize a Lexium T Robot.

Description

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

Interface

Input	Data type	Description
i_etRobotType	ET_TSeriesType	Select the robot type.
i_ifDriveA	SystemConfigurationItf.IF_Drive	Drive of axis A.
i_ifDriveB	SystemConfigurationItf.IF_Drive	Drive of axis B.
i_etConfigurationA	ET_RobotTSeriesConfiguration	Configuration for arm A.
i_etConfigurationB	ET_RobotTSeriesConfiguration	Configuration for arm B.
i_etPlane	ROB.ET_WorkingPlane	Specification in which working plane the robot is processing.

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	Ok	0	Ok
ExecutionAborted	RobotAlreadyInitialized	3	The robot is already initialized.
InputParameterInvalid	ConfigurationInvalid	17	The configuration is invalid.
InputParameterInvalid	DriveInvalid	4	The drive is invalid.
InputParameterInvalid	RobotTypeInvalid	2	The robot type is invalid.
InputParameterInvalid	UnknownRobotType	1	The robot type is indeterminable.
InputParameterInvalid	WorkingPlaneInvalid	19	The working plane is invalid.

ConfigurationInvalid

Enumeration name:	ConfigurationInvalid
Enumeration value:	17
Description:	The configuration is invalid.

Issue	Cause	Solution
The configuration of the Lexium T Robot was unsuccessful.	The value transferred at the input i_etConfigurationA or i_etConfigurationB is invalid.	The parallel linkage system has to be selected for i_etConfigurationA or i_etConfigurationB.

DriveInvalid

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

Issue	Cause	Solution
The configuration of the Lexium T 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_SetLimits2 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 T 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_SetLimits2 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 T 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_SetLimits2
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 T 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_SetLimits2
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 T Robot was successful.

RobotAlreadyInitialized

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

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

UnknownRobotType

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

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

WorkingPlaneInvalid

Enumeration name:	WorkingPlaneInvalid
Enumeration value:	19
Description:	The working plane is invalid.

Issue	Cause	Solution
The configuration of the Lexium T Robot was unsuccessful.	The value transferred at the input i_etPlane is invalid	Ensure that an element of the enumeration type ROB.ET_WorkingPlane is transferred.