With the method GetMotionParameter(...), the configured maximum velocity (change of the position per time unit), the maximum acceleration (change of the velocity per time unit), the maximum deceleration (change of the velocity per time unit), as well as the ramp (change of the acceleration/deceleration per time unit) with which the jogging motion of the robot or motion of an auxiliary axis has to be executed can be read.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etComponent |
Specifies for which robot component the motion parameters have to be read. Valid values are:
For further information, refet to ET_RobotComponent. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
POU-specific output on 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_lrMaxVelocity |
LREAL |
Specified maximum velocity (change of the position per time unit) |
|
q_lrMaxAcceleration |
LREAL |
Specified maximum acceleration (change of the velocity per time unit) |
|
q_lrMaxDeceleration |
LREAL |
Specified maximum deceleration (change of the velocity per time unit) |
|
q_lrRamp |
LREAL |
Specified ramp (change of the acceleration/deceleration per time unit) |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Ok |
|
ExecutionAborted |
ExternalPositionSourceConfigured |
205 |
The external position source is configured. |
|
InputParameterInvalid |
AuxiliaryAxisNotConfigured |
127 |
The auxiliary axis is not configured. |
|
InputParameterInvalid |
ComponentInvalid |
132 |
The component is invalid. |
|
InputParameterInvalid |
OrientationNotAvailable |
199 |
The orientation is not available. |
|
Enumeration name: |
AuxiliaryAxisNotConfigured |
|
Enumeration value: |
127 |
|
Description: |
The auxiliary axis is not configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the jogging motion parameters was not successful. |
The value transferred at the input i_etComponent corresponds to no configured auxiliary axis. |
Ensure that the axis is configured before using an auxiliary axis. |
|
Enumeration name: |
ComponentInvalid |
|
Enumeration value: |
132 |
|
Description: |
The component is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the jogging motion parameters was not successful. |
The value transferred at the input i_etComponent is invalid. |
Ensure that a valid component has been transferred at the input i_etComponent. |
|
Enumeration name: |
ExternalPositionSourceConfigured |
|
Enumeration value: |
205 |
|
Description: |
The external position source is configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the jogging motion parameters was not successful. |
An external position source for the robot components cartesian, orientation and auxiliary axes is configured. |
Reading the jogging motion parameters for the component Path is not possible when an external position source for the robot components is configured. Do not read the jogging motion parameters for the component Path. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
The jogging motion parameters were successfully read.
|
Enumeration name: |
OrientationNotAvailable |
|
Enumeration value: |
199 |
|
Description: |
The orientation is not available. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the jogging motion parameters was not successful. |
The orientation transferred at the input i_etComponent is not available. |
Ensure that the transformation used supports the orientation. |