IF_RobotMotion - MoveJ (Method)

Overview

Type:	Method
Available as of:	V2.8.2.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Point-to-point motion in three-dimensional space.

Description

With the method MoveJ, a motion job can be issued to move in a point-to-point motion to a target position in three-dimensional space.

With this method, it is possible to modify the robot arm configuration. For further information on robot arm configuration, refer to Change of SCARA Arm Configuration.

ET_ArmConfiguration.Right	ET_ArmConfiguration.Left

If a modification of arm configuration is requested that results in a segment length of 0 (start and target identical, angle of axis B = 0°), the modification takes place at the start of the next segment that includes a movement of the TCP (segment length <> 0).

For detailed information on ET_ArmConfiguration.InnerLeft and ET_ArmConfiguration.InnerRight, also refer to chapter Behavior with Arm Configuration InnerRight/InnerLeft.

For further information on trajectory behavior, refer to Behavior of the Trajectory Inside the Blending Zones.

Restrictions

It is not possible to modify the arm configuration if tracking is active (coordinate system <> CSR). In this case, the movement command is refused.

If a tracking is requested within a MoveJ segment, the tracking offset is shifted to the path position of the arm configuration modification.

Interface

Input	Data type	Description
i_stTarget	PDL.ST_Vector3D	Target position coordinates of the motion job in three-dimensional space.
i_etArmCofiguration	ET_ArmConfiguration	Configuration of the target arm configuration. Valid values: ET_ArmConfiguration.Right ET_ArmConfiguration.Left ET_ArmConfiguration.InnerRight ET_ArmConfiguration.InnerLeft
i_lrMaxZone	LREAL	Configuration of the maximum size of the blending zone of the motion job. Value range: i_lrMaxZone ≥ 0.0
i_udiSegmentId	UDINT	Id of the motion job. The Id of a motion job in a connected path must be unique. Value range: i_udiSegmentId > 0

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
OK	IdenticalTarget	14	A move command has been sent to an identical target position.
OK	NewConnectedPath	43	A new connected path is established.
ExecutionAborted	CommandRefused	10	The command has been denied.
ExecutionAborted	TransformationInvalid	112	The transformation is invalid.
ExecutionAborted	ConfigInvalid	1	The configuration is invalid.
ExecutionAborted	Disabled	51	Disabled
ExecutionAborted	StartOffsetRange	116	The start offset is out of range.
ExecutionAborted	NoMoreConnectedPathsAvailable	87	There are no more connected paths available.
ExecutionAborted	NoMoreZonesAvailable	88	There are no more zones available.
ExecutionAborted	NotReady	77	The robot is not ready.
ExecutionAborted	MotionParameterInvalid	130	The motion parameters are invalid.
ExecutionAborted	NoMoreSegmentsAvailable	86	There are no more segments available.
ExecutionAborted	NoMoreArmConfigurationEventsAvailable	201	The maximum number of available arm configuration events is reached.
ExecutionAborted	TrackingActive	176	Tracking is active.
ExecutionAborted	WorkEnvelope	159	Diagnostic message concerning the work envelope is active.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	SegmentIdAlreadyExists	21	The segment Id already exists.
InputParameterInvalid	SegmentIdRange	15	The segment Id is out of range.
InputParameterInvalid	MaxZoneRange	12	The maximum zone is out of range.
InputParameterInvalid	ArmConfigurationInvalid	200	The arm configuration is invalid.
InputParameterInvalid	TargetInvalid	91	The target is invalid.
InputParameterInvalid	UnknownArmConfiguration	202	The arm configuration is indeterminable.
UnexpectedProgramBehavior	InitializationFailed	4	The initialization was unsuccessful.
UnexpectedProgramBehavior	InterfaceInvalid	3	An interface is invalid.
UnexpectedProgramBehavior	UnexpectedFeedback	13	A feedback value was invalid.

ArmConfigurationInvalid

Enumeration name:	ArmConfigurationInvalid
Enumeration value:	200
Description:	The arm configuration is invalid.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_ArmConfiguration is outside the valid range.	At the input i_ArmConfiguration, a valid value must be transferred. Valid values: ET_ArmConfiguration.Right ET_ArmConfiguration.Left

Issue

Cause

Solution

The motion job was aborted.

The value transferred at the input i_ArmConfiguration is outside the valid range.

At the input i_ArmConfiguration, a valid value must be transferred.

Valid values:

ET_ArmConfiguration.Right
ET_ArmConfiguration.Left

CommandRefused

Enumeration name:	CommandRefused
Enumeration value:	10
Description:	The command has been denied.

Issue	Cause	Solution
The motion job was aborted.	A positioning command is already being processed. Two move commands, for example MoveL(...), MoveC(...), MoveS(...) or MoveSync(...), are called simultaneously.	Ensure that move commands are called one after another and not simultaneously.

ConfigInvalid

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

Issue	Cause	Solution
The motion job was aborted.	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
The motion job was aborted.	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
The motion job was aborted.	An external position source for the robot components cartesian, orientation, and auxiliary axes is configured.	Sending a motion job is not possible when an external position source for the robot components is configured. Do not send a motion job.

Issue

Cause

Solution

The motion job was aborted.

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

Sending a motion job is not possible when an external position source for the robot components is configured.

Do not send a motion job.

IdenticalTarget

Enumeration name:	IdenticalTarget
Enumeration value:	14
Description:	A move command has been sent to an identical target position.

Issue	Cause	Solution
The motion job was aborted.	The motion job target position transferred at the input i_stTarget and the input i_etArmConfiguration are identical to the target position of the previously issued motion job	A corresponding entry is created in the logger. Ensure that the target position is different to last target position of the previously issued motion job. Decrease the value of IF_RobotConfigurationAdvanced.lrMinPositionDelta, if necessary.
The motion job target position transferred at the input i_stTarget is identical to the target position of the previously issued motion job, but the arm configuration is modified	A corresponding entry is created in the logger. The modification of the arm configuration is stored for further movement commands.

Issue

Cause

Solution

The motion job was aborted.

The motion job target position transferred at the input i_stTarget and the input i_etArmConfiguration are identical to the target position of the previously issued motion job

A corresponding entry is created in the logger.

Ensure that the target position is different to last target position of the previously issued motion job.

Decrease the value of IF_RobotConfigurationAdvanced.lrMinPositionDelta, if necessary.

The motion job target position transferred at the input i_stTarget is identical to the target position of the previously issued motion job, but the arm configuration is modified

A corresponding entry is created in the logger.

The modification of the arm configuration is stored for further movement commands.

InitializationFailed

Enumeration name:	InitializationFailed
Enumeration value:	4
Description:	The initialization was unsuccessful.

The motion job was aborted.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	3
Description:	An interface is invalid.

The motion job was aborted.

MaxZoneRange

Enumeration name:	MaxZoneRange
Enumeration value:	12
Description:	The maximum zone is out of range.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_IrMaxZone is outside the valid range.	At the input i_lrMaxZone, a value greater than or equal to 0 must be transferred.

MotionParameterInvalid

Enumeration name:	MotionParameterInvalid
Enumeration value:	130
Description:	The motion parameters are invalid.

Issue	Cause	Solution
The motion job was aborted.	The motion parameters of the path are invalid. At least one of the motion parameters (Velocity, Acceleration, Deceleration, Ramp) is invalid.	Ensure that the used motion parameters for each ET_RobotComponent are valid.

Issue

Cause

Solution

The motion job was aborted.

The motion parameters of the path are invalid.

At least one of the motion parameters (Velocity, Acceleration, Deceleration, Ramp) is invalid.

Ensure that the used motion parameters for each ET_RobotComponent are valid.

NewConnectedPath

Enumeration name:	NewConnectedPath
Enumeration value:	43
Description:	A new connected path is established.

The motion job was transferred successfully.

A new connected path is established.

NoMoreArmConfigurationEventsAvailable

Enumeration name:	NoMoreArmConfigurationEventsAvailable
Enumeration value:	201
Description:	The maximum number of available arm configuration events is reached.

Issue	Cause	Solution
The motion job was aborted.	No more arm configuration events can be issued for this motion.	Wait until move commands for point-to-point movements with arm configuration modifications have been executed before sending new move commands.

NoMoreConnectedPathsAvailable

Enumeration name:	NoMoreConnectedPathsAvailable
Enumeration value:	87
Description:	There are no more connected paths available.

Issue	Cause	Solution
The motion job was aborted.	No further motion jobs can be issued. The maximum number of connected paths has been reached.	Wait until move commands for path movements have been executed before sending new move commands.

NoMoreSegmentsAvailable

Enumeration name:	NoMoreSegmentsAvailable
Enumeration value:	86
Description:	There are no more segments available.

Issue	Cause	Solution
The motion job was aborted.	No more motion jobs can be issued for a point-to-point motion.	Wait until move commands for point-to-point movements have been executed before sending new move commands.

NoMoreZonesAvailable

Enumeration name:	NoMoreZonesAvailable
Enumeration value:	88
Description:	There are no more zones available.

Issue	Cause	Solution
The motion job was aborted.	No further motion jobs can be issued. The maximum number of blending zones has been reached.	Wait until move commands for path movements have been executed before sending new move commands.

NotReady

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

Issue	Cause	Solution
The motion job was aborted.	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

The motion job was transferred successfully.

SegmentIdAlreadyExists

Enumeration name:	SegmentIdAlreadyExists
Enumeration value:	21
Description:	The segment Id already exists.

Issue	Cause	Solution
The motion job was aborted.	The Id transferred at the input i_udiSegmentId already exists in the latest connected path.	Ensure that the segment Id is unique in the latest connected path.

SegmentIdRange

Enumeration name:	SegmentIdRange
Enumeration value:	15
Description:	The segment Id is out of range.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_udiSegmentId is outside the valid range.	At the input i_udiSegmentId, a value greater than or equal to 0 must be transferred.

StartOffsetRange

Enumeration name:	StartOffsetRange
Enumeration value:	116
Description:	The start offset is out of range.

Issue	Cause	Solution
The motion job was aborted.	The value transferred at the input i_lrStartOffset of the method IF_RobotMotion.ChangeCoordinateSystem was negative. The start position for changing the coordinate system is calculated from the end of the move command. The length of the move command is too short.	Ensure that the length of the linear move command is long enough. Ensure that the start offset fits to the length of the move command.

Issue

Cause

Solution

The motion job was aborted.

The value transferred at the input i_lrStartOffset of the method IF_RobotMotion.ChangeCoordinateSystem was negative.

The start position for changing the coordinate system is calculated from the end of the move command. The length of the move command is too short.

Ensure that the length of the linear move command is long enough.

Ensure that the start offset fits to the length of the move command.

TargetInvalid

Enumeration name:	TargetInvalid
Enumeration value:	91
Description:	The target is invalid.

Issue	Cause	Solution
The motion job was aborted.	The position transferred at the input i_stTarget is outside the valid work envelope.	Ensure that the target position transferred at the input i_stTarget is inside the valid work envelope of the robot.

TrackingActive

Enumeration name:	TrackingActive
Enumeration value:	176
Description:	Tracking is active.

Issue	Cause	Solution
The motion job was aborted.	A modification of the arm configuration is initiated while tracking is active.	Ensure that tracking is finished before the motion job including a modification of the arm configuration is called. Ensure that i_etArmConfiguration represents the same value as the arm configuration of the last motion job.

Issue

Cause

Solution

The motion job was aborted.

A modification of the arm configuration is initiated while tracking is active.

Ensure that tracking is finished before the motion job including a modification of the arm configuration is called.

Ensure that i_etArmConfiguration represents the same value as the arm configuration of the last motion job.

TransformationInvalid

Enumeration name:	TransformationInvalid
Enumeration value:	112
Description:	The transformation is invalid.

Issue	Cause	Solution
The motion job was aborted.	The transformation used is not a SCARA transformation.	Ensure that Scara4Ax is used.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	13
Description:	A feedback value was invalid.

The motion job was aborted.

UnknownArmConfiguration

Enumeration name:	UnknownArmConfiguration
Enumeration value:	202
Description:	The arm configuration is indeterminable.

Issue	Cause	Solution
The motion job was aborted.	The robot does not support the transferred arm configuration.	The Schneider Electric robots only support the movement through the out-stretched position of AxisB. Use ET_ArmConfiguration.Right or ET_ArmConfiguration.Left to define the arm configuration.

Issue

Cause

Solution

The motion job was aborted.

The robot does not support the transferred arm configuration.

The Schneider Electric robots only support the movement through the out-stretched position of AxisB.

Use ET_ArmConfiguration.Right or ET_ArmConfiguration.Left to define the arm configuration.

WorkEnvelope

Enumeration name:	WorkEnvelope
Enumeration value:	159
Description:	Diagnostic message concerning the work envelope is active.

Issue	Cause	Solution
The motion job was aborted.	The TCP position of the robot is outside of the valid work envelope.	Bring the robots TCP position back to the valid work envelope.