FB_CobotController - StopRobotMovement (Method)

Overview

Type:	Method
Available as of:	V1.0.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

The function block is used to stop the execution and abort the running program on the Lexium Cobot controller or stops robot movements executed by move or jog commands.

Description

This method is used to stop and abort the execution of the running program on the Lexium Cobot controller.

NOTE: The abortion cannot be resumed.

Robot movements executed by move or jog commands can be stopped as well.

Preconditions to execute this command:

The control source of the Lexium Cobot must be Remote. Refer to method GetControlSource(Method).

Result of this command:

A running program or executed movement by a move command or jog command is stopped. FB_CobotControllerFeedback.rstData.xInPosition reports the value TRUE.

The sent command is acknowledged by the Lexium Cobot control either as successful or as unsuccessful.

A successful command is reported by the property xCommandAcknowledged. This is not an indication that the results of this command are already met.
A unsuccessful command is reported by the property xCommandFailed. Verify the diagnostic outputs of the function block for detailed information. Verify FB_CobotControllerFeedback.rstData.stLogData for detailed information.

Interface

Output	Data type	Description
q_xError	BOOL	Value is TRUE if an error was detected. For details, refer to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information as a numeric value. If q_xError = FALSE, q_etResult provides status information. If q_xError = TRUE, q_etResult provides diagnostic/error information.
q_sResultMsg	STRING[80]	Provides additional diagnostic and status information as a text value.

Output

Data type

Description

q_xError

BOOL

Value is TRUE if an error was detected. For details, refer to q_etResult and q_sResultMsg.

q_etResult

ET_Result

Provides diagnostic and status information as a numeric value.

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

q_sResultMsg

STRING[80]

Provides additional diagnostic and status information as a text value.

Diagnostic Messages

q_xError	q_etResult	Enumeration value	Description
FALSE	Ok	0	The method was called successfully.
TRUE	CommandNotAcknowledged	7	The command is not acknowledged.
TRUE	Disabled	1	The function block is disabled.
TRUE	NotConnected	5	A connection to a Lexium Cobot controller is not established.
TRUE	NotReady	4	The function block is not ready to perform commands.

CommandNotAcknowledged

Enumeration name:	CommandNotAcknowledged
Enumeration value:	7
Description:	The command is not acknowledged.

Issue	Cause	Solution
The method was not called successfully.	The function block reports FALSE at the output q_xReady because a detected error is reported. In case a sent command was acknowledged by the Lexium Cobot controller with a detected error, the property xCommandFailed reports the value TRUE in addition.	Verify the diagnostic outputs of the function block and solve the root cause of the detected error. A rising edge at the input i_xErrorQuit will reset the detected error.

Issue

Cause

Solution

The method was not called successfully.

The function block reports FALSE at the output q_xReady because a detected error is reported.

In case a sent command was acknowledged by the Lexium Cobot controller with a detected error, the property xCommandFailed reports the value TRUE in addition.

Verify the diagnostic outputs of the function block and solve the root cause of the detected error.

A rising edge at the input i_xErrorQuit will reset the detected error.

Disabled

Enumeration name:	Disabled
Enumeration value:	1
Description:	The function block is disabled.

Issue	Cause	Solution
The method was not called successfully.	The function block is disabled. A disabled function block does not execute any actions and all outputs are set to the default value.	Ensure that the function block is enabled. Enable the function block by setting the input i_xEnable to TRUE. The function block will report TRUE at its outputs q_xActive and q_xReady after the enable routine is successfully finished.

Issue

Cause

Solution

The method was not called successfully.

The function block is disabled.

A disabled function block does not execute any actions and all outputs are set to the default value.

Ensure that the function block is enabled.

Enable the function block by setting the input i_xEnable to TRUE. The function block will report TRUE at its outputs q_xActive and q_xReady after the enable routine is successfully finished.

NotConnected

Enumeration name:	NotConnected
Enumeration value:	5
Description:	A connection to a Lexium Cobot controller is not established.

Issue	Cause	Solution
The method was not called successfully.	A connection to a Lexium Cobot controller is not established. The property etConnectionState does not report the value ET_ConnectionState.Connected.	Ensure that a connection to a Lexium Cobot controller is established. To establish a connection to a Lexium Cobot controller call the method Connect or ConnectTLS.

Issue

Cause

Solution

The method was not called successfully.

A connection to a Lexium Cobot controller is not established.

The property etConnectionState does not report the value ET_ConnectionState.Connected.

Ensure that a connection to a Lexium Cobot controller is established.

To establish a connection to a Lexium Cobot controller call the method Connect or ConnectTLS.

NotReady

Enumeration name:	NotReady
Enumeration value:	4
Description:	The function block is not ready to perform commands.

Issue	Cause	Solution
The method was not called successfully.	The function block reports FALSE at the output q_xReady because a detected error is reported. In case a sent command was acknowledged by the Lexium Cobot controller with a detected error, the property xCommandFailed reports the value TRUE in addition.	Verify the diagnostic outputs of the function block and solve the root cause of the detected error. A rising edge at the input i_xErrorQuit will reset the detected error.

Issue

Cause

Solution

The method was not called successfully.

The function block reports FALSE at the output q_xReady because a detected error is reported.

In case a sent command was acknowledged by the Lexium Cobot controller with a detected error, the property xCommandFailed reports the value TRUE in addition.

Verify the diagnostic outputs of the function block and solve the root cause of the detected error.

A rising edge at the input i_xErrorQuit will reset the detected error.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	The method was called successfully.