This method is used to set the digital output of the Lexium Cobot, specified by the type transferred at the input i_etType and the index transferred at the input i_uiIndex, to the value transferred at the input i_xValue.
Preconditions to execute this command:
The control source of the Lexium Cobot must be Remote. For further information, refer to the method GetControlSource(Method).
Result of this command:
The digital output of the Lexium Cobot is set. FB_CobotControllerFeedback.rstData.stInputsOutputs.axDigitalOutputsCabinet and FB_CobotControllerFeedback.rstData.stInputsOutputs.axDigitalOutputsToolEnd reports the value set.
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.
An unsuccessful command is reported by the property xCommandFailed. For detailed information verify the diagnostic outputs of the function block and the log data of FB_CobotControllerFeedback.rstData.stLogData.
| Input | Data type | Description |
|---|---|---|
|
i_etType |
Specifies the type of the digital output that must be set. Valid values are:
|
|
|
i_uiIndex |
UINT |
Specifies the index of the digital output that must be set. Range in case of type Cabinet: 1 ≤ i_uiIndex ≤ Gc_uiMaxNumberOfDigitalOutputsCabinet Range in case of type Tool: 1 ≤ i_uiIndex ≤ Gc_uiMaxNumberOfDigitalOutputsToolEnd |
|
i_xValue |
BOOL |
Specifies the value of the digital output that must be set. |
| 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. |
|
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 |
IndexRange |
22 |
The index is out of range. |
|
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. |
|
Enumeration name: |
CommandNotAcknowledged |
|
Enumeration value: |
7 |
|
Description: |
The command is not acknowledged. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The method was not called successfully. |
The previous triggered command is not acknowledged yet. The property xCommandAcknowledged reports the value FALSE. |
Ensure that the property xCommandAcknowledged reports the value TRUE before calling a new command. |
|
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. |
|
Enumeration name: |
IndexRange |
|
Enumeration value: |
22 |
|
Description: |
The index is out of range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The method was not called successfully. |
The value transferred at the input i_uiIndex is not within the valid range. At the input i_etType the value ET_OutputType.Cabinet was transferred. |
At the input i_uiIndex, a value greater than or equal to 1 must be transferred. At the input i_uiIndex, a value less than or equal to Gc_uiMaxNumberOfDigitalOutputsCabinet must be transferred. |
|
The value transferred at the input i_uiIndex is not within the valid range. At the input i_etType the value ET_OutputType.ToolEnd was transferred. |
At the input i_uiIndex, a value greater than or equal to 1 must be transferred. At the input i_uiIndex, a value less than or equal to Gc_uiMaxNumberOfDigitalOutputsToolEnd must be transferred. |
|
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. |
|
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. |