FB_RobotSCARAParameters - InitializeRobot (Method)

Overview

Type:	Method
Available as of:	V2.20.2.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Initializes a Lexium SCARA Robot.

Description

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

Interface

Input	Data type	Description
i_etRobotType	ET_RobotSCARA	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.
i_ifDriveD	SystemConfigurationItf.IF_Drive	Drive of axis D.

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	DriveInvalid	4	The drive is invalid.
InputParameterInvalid	RobotTypeInvalid	2	The robot type is invalid.
InputParameterInvalid	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 SCARA Robot was unsuccessful.	The interface transferred at the input i_ifDriveA...D is invalid.	Transfer an interface of a valid drive. The following interfaces must be implemented by the drive object: SystemConfigurationItf.IF_YoffsetGenerator SystemConfigurationItf.IF_Limits Transfer a drive of type LXM62DxS.

Issue

Cause

Solution

The configuration of the Lexium SCARA Robot was unsuccessful.

The interface transferred at the input i_ifDriveA...D is invalid.

Transfer an interface of a valid drive.

The following interfaces must be implemented by the drive object:

SystemConfigurationItf.IF_YoffsetGenerator
SystemConfigurationItf.IF_Limits

Transfer a drive of type LXM62DxS.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the Lexium SCARA Robot was successful.

RobotAlreadyInitialized

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

Issue	Cause	Solution
The configuration of the Lexium SCARA Robot was unsuccessful.	The Lexium SCARA 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 SCARA Robot was unsuccessful.	The value transferred at the input i_etRobotType is invalid.	Transfer an element of the enumeration type ET_RobotSCARA other than ET_RobotSCARA.None.

UnknownRobotType

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

Issue	Cause	Solution
The configuration of the Lexium SCARA Robot was unsuccessful.	The value transferred at the input i_etRobotType is indeterminable.	Transfer an element of the enumeration type ET_RobotSCARA.