IF_RobotConfigurationAdvanced - GetTrackingDeviationLimit (Method)

Overview

Type:

Method

Available as of:

V1.0.0.0

This chapter provides information on:

Task

Reading the configured maximum tracking deviation limit.

Description

With the method GetTrackingDeviationLimit(…), the configured maximum tracking deviation along the path or the Cartesian components of the TCP position can be read.

Interface

Input

Data type

Description

i_etComponent

ET_RobotComponent

Specification of which maximum tracking deviation limit has to be read.

Valid values are:

  • ET_RobotComponent.Space

  • ET_RobotComponent.CartesianX

  • ET_RobotComponent.CartesianY

  • ET_RobotComponent.CartesianZ

  • ET_RobotComponent.OrientationAll

  • ET_RobotComponent.OrientationX

  • ET_RobotComponent.OrientationY

  • ET_RobotComponent.OrientationZ

For further information, refer to ET_RobotComponent.

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 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_lrValue

LREAL

Configured maximum tracking deviation (deviation of the position to the reference position).

If the maximum tracking deviation is exceeded, then this is notified via the feedback interface.

Unit: [Units]

q_lrFactor

LREAL

Configured factor with which the maximum tracking deviation is evaluated.

If the product of the tracking deviation and factor is reached or exceeded, then a ControllerStop is triggered for all robot axes.

Unit: [-]

Diagnostic Messages

q_etDiag

q_etDiagExt

Enumeration value

Description

OK

Ok

0

Ok

InputParameterInvalid

ComponentInvalid

132

The component is invalid.

ComponentInvalid

Enumeration name:

ComponentInvalid

Enumeration value:

132

Description:

The component is invalid.

Issue

Cause

Solution

Reading a maximum tracking deviation was not successful.

The value transferred at the input i_etComponent is invalid.

Ensure that a valid component has been transferred at the input i_etComponent.

Ok

Enumeration name:

Ok

Enumeration value:

0

Description:

Ok

Reading a maximum tracking deviation was successful.