FB_TeachingLinearMotionSystem - SetProcedureData (Method)

Overview

Type:	Method
Available as of:	V1.8.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Sets the data for the procedure.

Description

The method SetProcedureData (...) is used to set the data required by the procedure.

NOTE: When the method is called, all the stored samples are removed.

NOTE: The logical encoder described by i_stData.stLEncLogicalAddress must be allocated for the teaching procedure and not manipulated from outside the function block.

Access: PUBLIC

Interface

Input	Data type	Description
i_stData	ST_TeachingFixedSystemData	Data required by a fixed system teaching procedure.

Output	Data type	Description
q_xError	BOOL	TRUE: An error occurred during last command. For more information refer also to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information. If q_xError = FALSE, then q_etResult provides status information. If q_xError = TRUE, then q_etResult provides diagnostic/error information. The enumeration ET_Result contains the possible values of the POU operation results.
q_sResultMsg	STRING[80]	Provides additional information about the current status of the POU.

Output

Data type

Description

q_xError

BOOL

TRUE: An error occurred during last command. For more information refer also to q_etResult and q_sResultMsg.

q_etResult

ET_Result

Provides diagnostic and status information.

If q_xError = FALSE, then q_etResult provides status information.

If q_xError = TRUE, then q_etResult provides diagnostic/error information.

The enumeration ET_Result contains the possible values of the POU operation results.

q_sResultMsg

STRING[80]

Provides additional information about the current status of the POU.

Diagnostic Messages

q_xError	q_etResult	Enumeration value of q_etResult	Description
FALSE	Ok	0	Success.
FALSE	EncoderInitialPositionRollover	56	A position rollover is applied to the provided encoder initial position.
TRUE	EncoderInvalid	54	The provided encoder is invalid.
TRUE	IdenticalPoints	51	Two points are identical.
TRUE	InterfaceInvalid	28	The provided interface value is not valid.
TRUE	LogicalAddressInvalid	53	The logical address is invalid.
TRUE	NumberOfPointsInvalid	52	The provided number of points is invalid.
TRUE	VelocitySourceInvalid	55	The provided velocity source is invalid.

EncoderInitialPositionRollover

Enumeration name:	EncoderInitialPositionRollover
Enumeration value:	56
Description:	A position rollover is applied to the provided encoder initial position.

Status message: A rollover was applied to one or more values of i_stData.alrReferencePointEncoderPosition.

EncoderInvalid

Enumeration name:	EncoderInvalid
Enumeration value:	54
Description:	The provided encoder is invalid.

Issue	Cause	Solution
It is not possible to set the data for the teaching procedure.	The input i_stData.stLEncLogicalAddress does not refer to a logical encoder object.	Provide a logical address referring to a logical encoder object.

IdenticalPoints

Enumeration name:	IdenticalPoints
Enumeration value:	51
Description:	Two points are identical.

Issue	Cause	Solution
It is not possible to set the data for the teaching procedure.	The distance between two or more points inside i_stData. astReferencePoint is less than GEM.Gc_lrEps.	Do not use the same coordinates for different reference points.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	28
Description:	The provided interface value is not valid.

Issue	Cause	Solution
It is not possible to set the data for the teaching procedure.	The distance between two or more points inside i_stDataastReferencePoint is less than GEM.Gc_lrEps.	Provide a valid interface for i_stData.ifVelocitySource.

LogicalAddressInvalid

Enumeration name:	LogicalAddressInvalid
Enumeration value:	53
Description:	The logical address is invalid.

Issue	Cause	Solution
It is not possible to set the data for the teaching procedure.	The input i_stData.stLEncLogicalAddress contains an invalid logical address value.	Provide a valid logical address value.

NumberOfPointsInvalid

Enumeration name:	NumberOfPointsInvalid
Enumeration value:	52
Description:	The provided number of points is invalid.

Issue	Cause	Solution
It is not possible to set the data for the teaching procedure.	i_stData.udiNumberOfReferencePoints < 2 or > Gc_udiMaxNumberOfSamplesPerSet.	Verify that 2 <= i_stData. udiNumberOfReferencePoints <= Gc_udiMaxNumberOfSamplesPerSet.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success.

Status message: Setting the data for the procedure was successful.

VelocitySourceInvalid

Enumeration name:	VelocitySourceInvalid
Enumeration value:	55
Description:	The provided velocity source is invalid.

Issue	Cause	Solution
It is not possible to set the data for the teaching procedure.	The input i_stData.ifVelocitySource is not referring to a valid velocity source.	Provide an object that is supported as master encoder input by SystemInterface.FC_SetMasterEncoder (for example: drive, external encoder, virtual encoder, and so on.)