IF_RobotConfiguration - SetEmergencyParameter2 (Method)

Overview

Type:	Method
Available as of:	V2.1.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Setting the emergency parameters.

Also refer to Behavior of SetEmergencyParameter versus SetEmergencyParameter2.

Description

With the method SetEmergencyParameter2(…), the necessary data for an emergency stop must be transferred to the robot.

It is not possible to adjust the motion parameters for an active emergency stop. The adjusted values are applied and used for a later emergency stop, if required.

NOTE: For differences between the methods SetEmergencyParameter and SetEmergencyParameter2, refer to Using Robotic.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Specification for which robot components the emergency motion parameters have to be set. Valid values are: ET_RobotComponent.All ET_RobotComponent.Path ET_RobotComponent.CartesianAll ET_RobotComponent.CartesianX ET_RobotComponent.CartesianY ET_RobotComponent.CartesianZ ET_RobotComponent.OrientationAll ET_RobotComponent.OrientationX ET_RobotComponent.OrientationY ET_RobotComponent.OrientationZ ET_RobotComponent.AuxAxAll ET_RobotComponent.AuxAx1 ... AuxAx10 For further information, refer to ET_RobotComponent.
i_lrMaxDeceleration	LREAL	Specification of the deceleration (change of the velocity per time unit) with which the robot motion reaches a standstill in the case of a falling edge at FB_Robot.xEnable. The specification of the deceleration can be executed again at any time. Unit: [Units/s²] Value range: i_lrMaxDeceleration > 0.0 AND i_lrMaxDeceleration >= appropriate MaxDeceleration set with a method of the interface IF_RobotMotion or IF_RobotJogging
i_lrRamp	LREAL	Specification of the ramp (change of the deceleration per time unit) with which the robot motion reaches a standstill in the case of a falling edge at FB_Robot.xEnable. The specification of the ramp can be executed again at any time. Detailed description of the motion parameter Ramp. Unit: [-] Value range: i_lrRamp > 0.0 AND i_lrRamp <= appropriate Ramp set with a method of the interface IF_RobotMotion or IF_RobotJogging

Input

Data type

Description

i_etComponent

ET_RobotComponent

Specification for which robot components the emergency motion parameters have to be set.

Valid values are:

ET_RobotComponent.All
ET_RobotComponent.Path
ET_RobotComponent.CartesianAll
ET_RobotComponent.CartesianX
ET_RobotComponent.CartesianY
ET_RobotComponent.CartesianZ
ET_RobotComponent.OrientationAll
ET_RobotComponent.OrientationX
ET_RobotComponent.OrientationY
ET_RobotComponent.OrientationZ
ET_RobotComponent.AuxAxAll
ET_RobotComponent.AuxAx1 ... AuxAx10

For further information, refer to ET_RobotComponent.

i_lrMaxDeceleration

LREAL

Specification of the deceleration (change of the velocity per time unit) with which the robot motion reaches a standstill in the case of a falling edge at FB_Robot.xEnable.

The specification of the deceleration can be executed again at any time.

Unit: [Units/s²]

Value range: i_lrMaxDeceleration > 0.0 AND i_lrMaxDeceleration >= appropriate MaxDeceleration set with a method of the interface IF_RobotMotion or IF_RobotJogging

i_lrRamp

LREAL

Specification of the ramp (change of the deceleration per time unit) with which the robot motion reaches a standstill in the case of a falling edge at FB_Robot.xEnable.

The specification of the ramp can be executed again at any time.

Detailed description of the motion parameter Ramp.

Unit: [-]

Value range: i_lrRamp > 0.0 AND i_lrRamp <= appropriate Ramp set with a method of the interface IF_RobotMotion or IF_RobotJogging

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.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 GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = GD.ET_Diag.Ok -> Status message

q_etDiag <> GD.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
InputParameterInvalid	AuxiliaryAxisNotConfigured	127	The auxiliary axis is not configured.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	MaxDecelerationRange	126	The maximum deceleration is out of range.
InputParameterInvalid	RampRange	20	The ramp is out of range.
InputParameterInvalid	OrientationNotAvailable	199	The orientation is not available.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	127
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
The configuration of the emergency parameter of the robot was not successful.	The auxiliary axis transferred at the input i_etComponent is not configured.	Ensure that the axis is configured before using an auxiliary axis.

ComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	132
Description:	The component is invalid.

Issue	Cause	Solution
The configuration of the emergency parameter of the robot was not successful.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component has been transferred.

MaxDecelerationRange

Enumeration name:	MaxDecelerationRange
Enumeration value:	126
Description:	The maximum deceleration is out of range.

Issue	Cause	Solution
The configuration of the emergency parameter of the robot was not successful.	The value transferred at the input i_lrMaxDeceleration is not within the valid range.	At the input i_lrMaxDeceleration, a value greater than 0 must be transferred. At the input i_lrMaxDeceleration, a value greater than MaxDeceleration of motion or jogging parameters must be transferred.

Issue

Cause

Solution

The configuration of the emergency parameter of the robot was not successful.

The value transferred at the input i_lrMaxDeceleration is not within the valid range.

At the input i_lrMaxDeceleration, a value greater than 0 must be transferred.

At the input i_lrMaxDeceleration, a value greater than MaxDeceleration of motion or jogging parameters must be transferred.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the emergency parameter of the robot was successful.

OrientationNotAvailable

Enumeration name:	OrientationNotAvailable
Enumeration value:	199
Description:	The orientation is not available.

Issue	Cause	Solution
The configuration of the emergency parameter of the robot was not successful.	The orientation transferred at the input i_etComponent is not available.	Ensure that the transformation used supports the orientation.

RampRange

Enumeration name:	RampRange
Enumeration value:	20
Description:	The ramp is out of range.

Issue	Cause	Solution
The configuration of the emergency parameter of the robot was not successful.	The value transferred at the input i_lrRamp is not within the valid range.	At the input i_lrRamp, a value greater than 0 must be transferred. At the input i_lrRamp, a value less than Ramp of motion or jogging parameters must be transferred.

Issue

Cause

Solution

The configuration of the emergency parameter of the robot was not successful.

The value transferred at the input i_lrRamp is not within the valid range.

At the input i_lrRamp, a value greater than 0 must be transferred.

At the input i_lrRamp, a value less than Ramp of motion or jogging parameters must be transferred.