|
Type: |
Method |
|
Available as of: |
V.2.16.2.0 |
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Versions: |
Current version |
This chapter provides information on:
By calling the method, the limits for the axis A and B of a Lexium SCARA Robot can be read.
Default values are the maximum range of the axis.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etComponent |
Component of the Lexium SCARA Robot. Valid values are:
|
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiagExt |
POU-specific output for the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message |
|
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_sMsg |
STRING[80] |
Event-triggered message that gives additional information on the diagnostic state. |
|
q_lrMinValue |
LREAL |
Minimum limit for the valid range of an axis. |
|
q_lrMaxValue |
LREAL |
Maximum limit for the valid range of an axis. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Successful |
|
OK |
RobotNotInitialized |
89 |
The robot is not initialized. |
|
InputParameterInvalid |
RobotSCARAComponentInvalid |
129 |
The Lexium SCARA Robot component is invalid. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Successful |
The request to read the limits of an axis was successful.
|
Enumeration name: |
RobotNotInitialized |
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Enumeration value: |
89 |
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Description: |
The robot is not initialized. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The request to read the limits of an axis was successful, but the default data has not been set yet. |
The valid default values have not been transferred yet. |
Wait until the robot has been initialized and then call the method again. |
|
Enumeration name: |
RobotSCARAComponentInvalid |
|
Enumeration value: |
129 |
|
Description: |
The Lexium SCARA Robot component is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The request to modify the limits of an axis was unsuccessful. |
The value transferred at the input i_etComponent was indeterminable. |
Transfer a valid value of ET_RobotSCARAComponent at the input i_etComponent. |