IF_RobotConfigurationAdvanced - ExternalPositionSource (Method)

Overview

Type

Method

Available as of:

V2.5.0.0

This chapter provides information on:

Task

Configuration of an external position source for the robot components cartesian, orientation and auxiliary axes.

Description

With the calling of the method ExternalPositionSource(…), an external position source for the robot components cartesian, orientation and auxiliary axes can be configured. This allows the usage of external cams or any other motion generation to move a robot kinematic.

NOTE: CAM profiles providing reference position values to the robot must be contiguous in terms of position. In case of a periodic CAM profile, the start and the end position of the CAM must be identical.

When an external position source is configured, the following features are not available:

  • Tracking

  • ExtendConnectedPath

  • Limitation of the resultant acceleration

In addition it is not possible to move the robot with motion jobs like for example:

  • IF_RobotMotion.MoveL(…)

  • IF_RobotMotion.MoveC(…)

  • IF_RobotMotion.MoveS(…)

  • IF_RobotMotion.MoveJ(…)

  • IF_RobotMotion.MoveSync(…)

  • IF_RobotMotion.MoveASync(…), and so on.

Interface

Input

Data type

Description

i_ifSource

IF_ExternalPositionSource

Interface with the implementation to pass the external position source to the robot.

Refer to IF_ExternalPositionSource - WriteRefPositions().

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

AlreadyConfigured

7

The feature is already configured.

ExecutionAborted

ConfigurationAlreadyCompleted

105

The configuration is already completed.

ExecutionAborted

ExternalPositionSourceInvalid

204

The external position source is invalid.

ExecutionAborted

ToolConfigured

262

The tool was created.

InputParameterInvalid

ExternalPositionSourceInvalid

204

The external position source is invalid.

AlreadyConfigured

Enumeration name:

AlreadyConfigured

Enumeration value:

7

Description:

The feature is already configured.

Issue

Cause

Solution

The configuration of the external position source was unsuccessful.

The configuration of the external position source has already been completed successfully.

Ensure that the configuration of the external position source is only called once.

ConfigurationAlreadyCompleted

Enumeration name:

ConfigurationAlreadyCompleted

Enumeration value:

105

Description:

The configuration is already completed.

Issue

Cause

Solution

The configuration of the external position source was unsuccessful.

The configuration of the robot has already been completed. The method ConfigDone(...) has already been called up successfully.

Ensure that the configuration method for the external position source is not called after the configuration has been completed.

ExternalPositionSourceInvalid

Enumeration name:

ExternalPositionSourceInvalid

Enumeration value:

204

Description:

The external position source is invalid.

Issue

Cause

Solution

Configuring the external position source was unsuccessful.

The configuration of an external position source is not possible.

  • A method to add a tracking system, for example IF_RobotConfiguration.AddLinearTrackingSystem3(…), is already called successfully.

  • The method IF_RobotConfigurationAdvanced.ExtendConnectedPath(…) is already called successfully.

  • The method IF_RobotMotion.SetMaxAccelerationResultant(…) with i_etComponent equal to ET_RobotComponent.Space is already called successfully.

  • The method IF_RobotConfigurationAdvanced. SetResAccLimitParameters(…) is already called successfully.

Do not call any mentioned method before configuring the external position source.

The interface transferred at the input i_ifSource is invalid.

Verify that a valid interface is transferred at the input i_ifSource.

Ok

Enumeration name:

Ok

Enumeration value:

0

Description:

Ok

Configuring the external position source was successful.

ToolConfigured

Enumeration name:

ToolConfigured

Enumeration value:

262

Description:

The tool was created.

Issue

Cause

Solution

The configuration of the external position source was unsuccessful.

One or more tools are configured for the robot.

It is not possible to use external position source in combination with tools.