|
Type: |
Method |
|
Available as of: |
V.2.16.3.0 |
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Versions: |
Current version |
This chapter provides information on:
Set the configuration data for the EcoStruxure Machine Expert Twin communication of the Lexium SCARA Robot.
By calling the method, the provided configuration data is verified, stored, and transferred into the OPC UA data structure of the Lexium SCARA Robot.
|
Input |
Data type |
Description |
|---|---|---|
|
i_stData |
DTC.ST_ConfigDataRobotSCARA |
Configuration data for EcoStruxure Machine Expert Twin.
NOTE: i_stData.sCategory is overwritten by the value stored inside the function block.
|
|
i_udiArrayIndex |
UDINT |
The array index number indicates the robot related OPC UA data structure, for example, DTC.GVL_OpcUaRobotics.G_stROB.astRobotSCARA[i_udiArrayIndex]. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
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_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
OK |
0 |
Successful |
|
InputParameterInvalid |
DigitalTwinNameInvalid |
124 |
The name is invalid. |
|
InputParameterInvalid |
DigitalTwinColorInvalid |
125 |
The color is invalid. |
|
InputParameterInvalid |
DigitalTwinUnivocalIdInvalid |
126 |
The UnivocalID is invalid. |
|
InputParameterInvalid |
DigitalTwinArrayIndexInvalid |
127 |
The array index is invalid. |
|
Enumeration name: |
DigitalTwinNameInvalid |
|
Enumeration value: |
124 |
|
Description: |
The name is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Setting the EcoStruxure Machine Expert Twin configuration parameter was unsuccessful. |
The configuration parameter i_stData.sName is empty. |
Verify that the configuration parameter i_stData.sName is not empty. |
|
Enumeration name: |
DigitalTwinColorInvalid |
|
Enumeration value: |
125 |
|
Description: |
The color is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Setting the EcoStruxure Machine Expert Twin configuration parameter was unsuccessful. |
The configuration parameter i_stData.udiColor is invalid. |
Verify that the configuration parameter i_stData.udiColor is in the valid range of DTC.ET_EmulationColors. |
|
Enumeration name: |
DigitalTwinUnivocalIdInvalid |
|
Enumeration value: |
126 |
|
Description: |
The UnivocalID is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Setting the EcoStruxure Machine Expert Twin configuration parameter was unsuccessful. |
The configuration parameter i_stData.udiUnivocalId is invalid. |
Verify that the configuration parameter i_stData.udiUnivocalId is not 0. |
|
Enumeration name: |
DigitalTwinArrayIndexInvalid |
|
Enumeration value: |
128 |
|
Description: |
The array index is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Setting the EcoStruxure Machine Expert Twin configuration parameter was unsuccessful. |
The configuration parameter i_udiArrayIndex is invalid. |
Verify that the configuration parameter i_udiArrayIndex is not 0 and i_udiArrayIndex ≤ DTC.GCL.Gc_udiMaxNumberOfRobotSCARA. |