IF_RobotMotion - SetMaxAccelerationResultant (Method)

Overview

Type:	Method
Available as of:	V1.6.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Setting the maximum resulting acceleration for starting or stopping a tracking movement as well as for limiting the resulting acceleration for space movement.

Description

With the method SetMaxAccelerationResultant(...), the following maximum resulting accelerations (changes of the velocity per time unit) can be determined:

The maximum resulting acceleration used to start or stop the tracking movement of the robot.
The maximum resulting acceleration used to limit a space movement.

To initialize the limitation of the resulting acceleration of space movements, the method must be called once successfully before IF_RobotConfiguration.ConfigDone(…) is called.

If the limitation of the resulting acceleration of space movements is initialized successfully, the arc length for blending zones and spline, is calculated to get more precise approximation of the arc length.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Specification for which part of the robot the maximum resulting acceleration has to be set. Valid values are: ET_RobotComponent.Tracking ET_RobotComponent.Space For further information, refer to ET_RobotComponent.
i_lrValue	LREAL	For ET_robotComponent.Tracking: Value of the maximum resulting acceleration for starting or stopping a tracking movement. Valid values are: i_lrValue > 0.0 A changed value gets active for the next call of the method IF_RobotMotion.ChangeCoordinateSystem(…).
For: ET_RobotComponent.Space Value of the maximum resulting acceleration to limit the space movement. Valid values are: i_lrValue ≥ 0.0 To disable the limitation of the resulting acceleration, set the value to 0.0. The calculation to get a more precise approximation of the arc length remains active. A changed value gets active for the next connected path.

Input

Data type

Description

i_etComponent

ET_RobotComponent

Specification for which part of the robot the maximum resulting acceleration has to be set.

Valid values are:

ET_RobotComponent.Tracking
ET_RobotComponent.Space

For further information, refer to ET_RobotComponent.

i_lrValue

LREAL

For ET_robotComponent.Tracking:

Value of the maximum resulting acceleration for starting or stopping a tracking movement.

Valid values are: i_lrValue > 0.0

A changed value gets active for the next call of the method IF_RobotMotion.ChangeCoordinateSystem(…).

For: ET_RobotComponent.Space

Value of the maximum resulting acceleration to limit the space movement.

Valid values are: i_lrValue ≥ 0.0

To disable the limitation of the resulting acceleration, set the value to 0.0.

The calculation to get a more precise approximation of the arc length remains active.

A changed value gets active for the next connected path.

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	NotInitialized	54	The robot is not initialized.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	MaxAccelerationResultantRange	170	The MaxAccelerationResultant is out of range.

ComponentInvalid

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

Issue	Cause	Solution
Setting the maximum resulting acceleration was not successful.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component is transferred.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
Setting the motion parameter was not successful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Setting the motion parameter is not possible when an external position source for the robot components is configured. Do not set the motion parameter.

Issue

Cause

Solution

Setting the motion parameter was not successful.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

Setting the motion parameter is not possible when an external position source for the robot components is configured.

Do not set the motion parameter.

MaxAccelerationResultantRange

Enumeration name:	MaxAccelerationResultantRange
Enumeration value:	170
Description:	The MaxAccelerationResultant is out of range.

Issue	Cause	Solution
Setting the maximum resulting acceleration was not successful.	The value transferred at the input i_lrValue is not within the valid range.	In case of i_etComponent = ET_RobotComponent.Tracking at the input i_lrValue, a value greater than 0.0 must be transferred. In case of i_etComponent = ET_RobotComponent.Space at the input i_lrValue, a value equal or greater than 0.0 must be transferred.

NotInitialized

Enumeration name:	NotInitialized
Enumeration value:	54
Description:	The robot is not initialized.

Issue	Cause	Solution
Setting the maximum resulting acceleration was not successful.	The functionality to limit the maximum resulting acceleration for space movement is not initialized.	Ensure that IF_RobotMotion. SetMaxAccelerationResultant(…) for i_etComponent = ET_RobotComponent.Space is called once before IF_RobotConfiguration. ConfigDone(…) is called.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Setting the maximum resulting acceleration was successful.