IF_Configuration - SCARA4AxCoupling (Method)

Overview

Type:	Method
Available as of:	V2.20.3.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Configures a SCARA with four axes which has a coupling on the motors that perform the Z and OrientationZ motion.

Description

With the method SCARA4AxCoupling(…), the robot can be configured as a SCARA with four axes which uses a coupling for Z (translation movement along the mechanical Z axis) and OrientationZ (rotation about the mechanical Z axis).

The axes A and B move the robot in the XY-Plane, axis C moves the TCP in the Z direction and compensates the movements of axis D. Axis D turns the TCP about Z and compensates the movements of the axes A and B.

The axes A, B and D must be configured for a scaling in degrees (FeedConstant = 360) while axis C must be scaled in millimeters (FeedConstant = mm/revolution).

Coupling in transformation is defined as:

D = OrientationZ - A - B

C = Z - (D/360 * i_lrSlope)

Interface

Input	Data type	Description
i_ifDriveA	SystemConfigurationItf.IF_Drive NOTE: For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive for axis A.
i_ifDriveB	SystemConfigurationItf.IF_Drive NOTE: For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive for axis B.
i_ifDriveC	SystemConfigurationItf.IF_Drive NOTE: For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive for axis C.
i_ifDriveD	SystemConfigurationItf.IF_Drive NOTE: For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive for axis D.
i_lrLengthA	LREAL	Length of the arm mounted on axis A. Value range: i_lrLengthA > 0 Unit: [mm]
i_lrLengthB	LREAL	Length of the arm mounted on axis B. Value range: i_lrLengthB > 0 Unit: [mm]
i_lrSlope	LREAL	Slope of the lift mechanic. Value range: i_lrSlope > 0 Unit: [mm]/[rev]

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 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 GD.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	ConfigurationAlreadyCompleted	154	The configuration is already completed.
ExecutionAborted	TransformationAlreadyConfigured	171	The transformation is already configured.
InputParameterInvalid	DriveAAlreadyInUse	164	The drive A is already in use.
InputParameterInvalid	DriveAInvalid	167	The drive A is invalid.
InputParameterInvalid	DriveBAlreadyInUse	165	The drive B is already in use.
InputParameterInvalid	DriveBInvalid	168	The drive B is invalid.
InputParameterInvalid	DriveCAlreadyInUse	166	The drive C is already in use.
InputParameterInvalid	DriveCInvalid	169	The drive C is invalid.
InputParameterInvalid	DriveDAlreadyInUse	351	The drive D is already in use.
InputParameterInvalid	DriveDInvalid	333	The drive D is invalid.
InputParameterInvalid	LengthARange	262	The LengthA is out of range.
InputParameterInvalid	LengthBRange	263	The LengthB is out of range.
InputParameterInvalid	SlopeRange	408	The slope value is out of range.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	154
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The configuration is already completed.	Call the method SCARA4AxCoupling before calling of the method ConfigDone.

DriveAAlreadyInUse

Enumeration name:	DriveAAlreadyInUse
Enumeration value:	164
Description:	The drive A is already in use.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The drive transferred at the input i_ifDriveA is already configured in the robot and cannot be used again.	Do not assign a drive to the robot more than once.

DriveAInvalid

Enumeration name:	DriveAInvalid
Enumeration value:	167
Description:	The drive A is invalid.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The drive transferred at the input i_ifDriveA is invalid.	Transfer a valid drive to the input i_ifDriveA.

DriveBAlreadyInUse

Enumeration name:	DriveBAlreadyInUse
Enumeration value:	165
Description:	The drive B is already in use.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The drive transferred at the input i_ifDriveB is already configured in the robot and cannot be used again.	Do not assign a drive to the robot more than once.

DriveBInvalid

Enumeration name:	DriveBInvalid
Enumeration value:	168
Description:	The drive B is invalid.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The drive transferred at the input i_ifDriveB is invalid.	Transfer a valid drive to the input i_ifDriveB.

DriveCAlreadyInUse

Enumeration name:	DriveCAlreadyInUse
Enumeration value:	166
Description:	The drive C is already in use.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The drive transferred at the input i_ifDriveC is already configured in the robot and cannot be used again.	Do not assign a drive to the robot more than once.

DriveCInvalid

Enumeration name:	DriveCInvalid
Enumeration value:	169
Description:	The drive C is invalid.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The drive transferred at the input i_ifDriveC is invalid.	Transfer a valid drive to the input i_ifDriveC.

DriveDAlreadyInUse

Enumeration name:	DriveDAlreadyInUse
Enumeration value:	351
Description:	The drive D is already in use.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The drive transferred at the input i_ifDriveD is already configured in the robot and cannot be used again.	Do not assign a drive to the robot more than once.

DriveDInvalid

Enumeration name:	DriveDInvalid
Enumeration value:	333
Description:	The drive D is invalid.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The drive transferred at the input i_ifDriveD is invalid.	Transfer a valid drive to the input i_ifDriveD.

LengthARange

Enumeration name:	LengthARange
Enumeration value:	262
Description:	The LengthA is out of range.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The value transferred at the input i_lrLengthA is not within a valid range.	Transfer a valid value at the input i_lrLenghtA. Valid values are i_lrLenghtA > 0. Unit: [mm].

Issue

Cause

Solution

The configuration of the transformation was not successful.

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

Transfer a valid value at the input i_lrLenghtA.

Valid values are i_lrLenghtA > 0.

Unit: [mm].

LengthBRange

Enumeration name:	LengthBRange
Enumeration value:	263
Description:	The LengthB is out of range.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The value transferred at the input i_lrLengthB is not within a valid range.	Transfer a valid value at the input i_lrLenghtB. Valid values are i_lrLenghtB > 0. Unit: [mm].

Issue

Cause

Solution

The configuration of the transformation was not successful.

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

Transfer a valid value at the input i_lrLenghtB.

Valid values are i_lrLenghtB > 0.

Unit: [mm].

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the robot was successful.

SlopeRange

Enumeration name:	SlopeRange
Enumeration value:	408
Description:	The slope value is out of range.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The value transferred at the input i_lrSlope is not within the valid range.	Transfer a valid value at the input i_lrSlope. Valid values are i_lrSlope > 0. Unit: [mm]/[revolution]

Issue

Cause

Solution

The configuration of the transformation was not successful.

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

Transfer a valid value at the input i_lrSlope.

Valid values are i_lrSlope > 0.

Unit: [mm]/[revolution]

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	171
Description:	The transformation is already configured.

Issue	Cause	Solution
The configuration of the transformation was not successful.	The configuration of the robot transformation is already completed successfully.	Call the configuration for a transformation only once.