With the method GetEmergencyParameter(…), the configured data for an emergency stop of the robot can be read.
Written with the method SetEmergencyParameter or
Written with the method SetEmergencyParameter2 and addressed with ET_RobotComponent.All.
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
POU-specific output on 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. |
|
q_lrDeceleration |
LREAL |
Parameterized deceleration (change of the velocity per time unit) with which the robot motion comes to a standstill in the case of a falling edge at FB_Robot.xEnable. Unit: [Units/s²] |
|
q_lrRamp |
LREAL |
Parameterized ramp (change of the deceleration per time unit) with which the robot motion comes to a standstill in the case of a falling edge at FB_Robot.xEnable. Detailed description of the motion parameter Ramp. Unit: [-] |