IF_RobotJogging - AdvanceToNextConnectedPath (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Advancing to the next connected path.

Description

With the method AdvanceToNextConnectedPath(…), the next connected path can be switched to, for jogging along the path.

When switching into the next connected path, the data of the connected path is lost.

Interface

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.

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ColdStartActive	84	The robot is performing a cold start.
ExecutionAborted	ConfigInvalid	1	The configuration is invalid.
ExecutionAborted	Disabled	51	Disabled
ExecutionAborted	InMotion	52	The robot is in motion.
ExecutionAborted	NoConnectedPathAvailable	9	There is no connected path available.
ExecutionAborted	NotInTarget	64	The robot is not in the target position.
ExecutionAborted	NotReady	77	The robot is not ready.
ExecutionAborted	StartActive	59	Start is active.
ExecutionAborted	WarmStartActive	83	The robot is performing a warm start.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.

ColdStartActive

Enumeration name:	ColdStartActive
Enumeration value:	84
Description:	The robot is performing a cold start.

Issue	Cause	Solution
Switching into the next connected path was not successful.	Command is not possible while cold start is active.	Wait until the cold start is finished.

ConfigInvalid

Enumeration name:	ConfigInvalid
Enumeration value:	1
Description:	The configuration is invalid.

Issue	Cause	Solution
Switching into the next connected path was not successful.	The robot configuration is invalid.	Call the method ConfigDone(...) to complete the configuration of the robot.

Disabled

Enumeration name:	Disabled
Enumeration value:	51
Description:	Disabled

Issue	Cause	Solution
Switching into the next connected path was not successful.	FB_Robot.xEnable = FALSE -> The robot is not active.	Set FB_Robot.xEnable :=TRUE to enable the robot.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
Switching into the next connected path was not successful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Switching into the next connected path is not possible when an external position source for the robot components is configured. Do not switch into the next connected path.

Issue

Cause

Solution

Switching into the next connected path was not successful.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

Switching into the next connected path is not possible when an external position source for the robot components is configured.

Do not switch into the next connected path.

InMotion

Enumeration name:	InMotion
Enumeration value:	52
Description:	The robot is in motion.

Issue	Cause	Solution
Switching into the next connected path was not successful.	The robot is still in motion.	Do not call AdvanceToNextConnectedPath(...) while the robot is in motion.

NoConnectedPathAvailable

Enumeration name:	NoConnectedPathAvailable
Enumeration value:	9
Description:	There is no connected path available.

Issue	Cause	Solution
Switching into the next connected path was not successful.	AdvanceToNextConnectedPath(...) was called but no next connected path is available.	Create connected paths before calling AdvanceToNextConnectedPath(...).
AdvanceToNextConnectedPath(...) was called but no next connected path is available. The next connected path is still blocked by IF_RobotFeedback.xExecute equal to FALSE.	Call IF_RobotMotion.Execute(...) with i_xValue equal to TRUE to release the next connected path.

Issue

Cause

Solution

Switching into the next connected path was not successful.

AdvanceToNextConnectedPath(...) was called but no next connected path is available.

Create connected paths before calling AdvanceToNextConnectedPath(...).

AdvanceToNextConnectedPath(...) was called but no next connected path is available.

The next connected path is still blocked by IF_RobotFeedback.xExecute equal to FALSE.

Call IF_RobotMotion.Execute(...) with i_xValue equal to TRUE to release the next connected path.

NotInTarget

Enumeration name:	NotInTarget
Enumeration value:	64
Description:	The robot is not in the target position.

Issue	Cause	Solution
Switching into the next connected path was not successful.	The robot is not in the target position of the connected path.	Execute jogging on the path to the end of the connected path before calling AdvanceToNextConnectedPath(...).
The robot is not in the target position of the connected path. The connected path has been enhanced by motion commands during IF_RobotFeedback.xExecute is equal to FALSE.	Call IF_RobotMotion.Execute(...) with i_xValue equal to TRUE first and execute jogging on the path to the end of the connected path before calling AdvanceToNextConnectedPath(...).

Issue

Cause

Solution

Switching into the next connected path was not successful.

The robot is not in the target position of the connected path.

Execute jogging on the path to the end of the connected path before calling AdvanceToNextConnectedPath(...).

The robot is not in the target position of the connected path.

The connected path has been enhanced by motion commands during IF_RobotFeedback.xExecute is equal to FALSE.

Call IF_RobotMotion.Execute(...) with i_xValue equal to TRUE first and execute jogging on the path to the end of the connected path before calling AdvanceToNextConnectedPath(...).

NotReady

Enumeration name:	NotReady
Enumeration value:	77
Description:	The robot is not ready.

Issue	Cause	Solution
Switching into the next connected path was not successful.	The robot is not ready.	Ensure that the configuration of the robot is finished, the robot is enabled and the drives are ready.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Switching into the next connected path was successful.

StartActive

Enumeration name:	StartActive
Enumeration value:	59
Description:	Start is active.

Issue	Cause	Solution
Switching into the next connected path was not successful.	Command is not possible while xStart is TRUE.	Set xStart of the robot to the value FALSE.

WarmStartActive

Enumeration name:	WarmStartActive
Enumeration value:	83
Description:	The robot is performing a warm start.

Issue	Cause	Solution
Switching into the next connected path was not successful.	Command is not possible while the warm start is active.	Wait until the warm start is finished.