IF_RobotMotion - SetReducedVelocity (Method)

Overview

Type:	Method
Available as of:	V3.7.1.0

This chapter provides information on:

Task

Set a reduced velocity for a certain part of the connected path.

Description

The method can be used to set a reduced velocity for a certain part of the connected path.

The part of the connected path where the reduced velocity must be active is specified by the inputs i_udiStartSegmentId, i_lrStartOffset, i_udiEndSegmentId and i_lrEndOffset.

The reduced velocity set by the input i_lrValue is reached at the selected start position and is kept until the selected end position. The necessary acceleration and deceleration phases are executed before the start point and after the end point respectively.

Example:

In the example, the reduced velocity of 45 was set for the configured zone between the connected path RefPosition 25...75, marked by the two cursors. The velocity is reduced before the start and increased again to the configured maximum velocity for the segment after the end of the configured zone.

The reduced velocity is only applied if:

The transmitted velocity is lower than the velocity used for the segments set via the methods SetMotionParameter or SetMaxVelocity.
The velocity is lower than any other velocity induced by limitation functionalities such as MoveSync or the acceleration control (refer to IF_RobotMotion - SetMaxAccelerationResultant (Method)).

Interface

Input	Data type	Description
i_lrValue	LREAL	Maximum velocity that must be used for the part of the connected path specified by i_udiStartSegmentId, i_lrStartOffset, i_udiEndSegmentId and i_lrEndOffset. Unit: [Units/s] Valid values: i_lrValue > 0.0
i_udiStartSegmentId	UDINT	ID of the segment where the reduced velocity is started. Valid values: i_udiStartSegmentId > 0 and the segment ID must be present in the last connected path.
i_lrStartOffset	LREAL	Offset within the start segment where the reduced velocity must be reached. Positive values of i_lrStartOffset refer to the start of the segment, and negative values refer to the end of the segment. Special case: i_lrStartOffset = 0, in this case the reduced velocity must be reached at the start of the segment.
i_udiEndSegmentId	UDINT	ID of the segment where the reduced velocity is ended. i_udiEndSegmentId > 0 and the segment ID must be present in the last connected path.
i_lrEndOffset	LREAL	Offset within the end segment until where the reduced velocity must be kept. Positive values of i_lrEndOffset refer to the start of the segment, and negative values refer to the end of the segment. Special case: i_lrEndOffset = 0, in this case the reduced velocity must be kept until the end of the segment.

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	CommandRefused	10	The command has been denied.
ExecutionAborted	ConfigInvalid	1	The configuration is invalid.
ExecutionAborted	Disabled	51	Disabled
ExecutionAborted	EndSegmentIdNotFound	32	The end segment ID was not found.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
ExecutionAborted	InitializationFailed	4	The initialization was unsuccessful.
ExecutionAborted	InterfaceInvalid	3	An interface is invalid.
ExecutionAborted	NoConnectedPathAvailable	9	There is no connected path available.
ExecutionAborted	NoMoreSegmentsAvailable	86	There are no more segments available.
ExecutionAborted	NotReady	77	The robot is not ready.
ExecutionAborted	PathPositionEndInvalid	25	The end position on the path is invalid.
ExecutionAborted	PathPositionStartAlreadyPassed	81	The robot already passed the start position on the path.
ExecutionAborted	RobotFeedbackInvalid	13	A feedback value was invalid.
ExecutionAborted	StartSegmentIdNotFound	31	The start segment Id was not found.
InputParameterInvalid	EndOffsetRange	78	The end offset is out of range.
InputParameterInvalid	EndSegmentIdRange	28	The end segment Id is out of range.
InputParameterInvalid	MaxVelocityRange	124	The maximum velocity is out of range.
InputParameterInvalid	StartOffsetRange	116	The start offset is out of range.
InputParameterInvalid	StartSegmentIdRange	27	The start segment Id is out of range.

CommandRefused

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

Issue	Cause	Solution
The reduced velocity was not set.	Another command is already being processed. Two move commands, for example MoveL(...), MoveC(...), MoveS(...) or MoveSync(...), SetReducedVelocity(…) 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 reduced velocity was not set.	The robot configuration is invalid.	Ensure that the method ConfigDone(...) is called successfully to complete the configuration of the robot.

Disabled

Enumeration name:	Disabled
Enumeration value:	51
Description:	Disabled

Issue	Cause	Solution
The reduced velocity was not set.	FB_Robot.xEnable = FALSE The robot is not active.	Set FB_Robot.xEnable = TRUE, to enable the robot before sending commands.

Issue

Cause

Solution

The reduced velocity was not set.

FB_Robot.xEnable = FALSE

The robot is not active.

Set FB_Robot.xEnable = TRUE, to enable the robot before sending commands.

EndOffsetRange

Enumeration name:	EndOffsetRange
Enumeration value:	78
Description:	The end offset is out of range.

Issue	Cause	Solution
The reduced velocity was not set.	The value transferred at the input i_lrEndOffset is not within the valid range.	At the input i_lrEndOffset, a value less than or equal to the length of the selected segment (i_udiEndSegmentId) must be transferred.

EndSegmentIdNotFound

Enumeration name:	EndSegmentIdNotFound
Enumeration value:	32
Description:	The end segment ID was not found.

Issue	Cause	Solution
The reduced velocity was not set.	The segment with the ID transferred at the input i_udiEndSegmentId was not found in the last connected path.	Ensure that the segment with the ID i_udiEndSegmentId is included in the last connected path.

EndSegmentIdRange

Enumeration name:	EndSegmentIdRange
Enumeration value:	28
Description:	The end segment Id is out of range.

Issue	Cause	Solution
The reduced velocity was not set.	The value transferred at the input i_udiEndSegmentId is not within the valid range.	At the input i_udiEndSegmentId, a value greater than or equal to 1 must be transferred.

ExternalPositionSourceConfigured

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

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

Issue

Cause

Solution

The reduced velocity was not set.

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

Do not send a motion job.

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

InitializationFailed

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

The reduced velocity is not set.

InterfaceInvalid

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

The reduced velocity is not set.

MaxVelocityRange

Enumeration name:	MaxVelocityRange
Enumeration value:	124
Description:	The maximum velocity is out of range.

Issue	Cause	Solution
The reduced velocity was not set.	The value transferred at the input i_IrValue is not within the valid range.	At the input i_lrValue, a value greater than 0 must be transferred.

NoConnectedPathAvailable

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

Issue	Cause	Solution
The reduced velocity was not set.	The method SetReducedVelocity(...) was called but there is no connected path available.	Create a connected path before calling the method SetReducedVelocity(...).

NoMoreSegmentsAvailable

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

Issue	Cause	Solution
The reduced velocity was not set.	There are no more segments with reduced velocity available.	Wait until the movements with reduced velocity are executed before sending new commands.
The reduced velocity was not set.	There are no more segments with reduced velocity available.	Increase the parameter Gc_udiMaxNumberOfReducuedVelocitySegments in the global parameter list of the robotic library.

NotReady

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

Issue	Cause	Solution
The reduced velocity was not set.	The function block FB_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 reduced velocity is set successfully.

PathPositionEndInvalid

Enumeration name:	PathPositionEndInvalid
Enumeration value:	25
Description:	The end position on the path is invalid.

Issue	Cause	Solution
The reduced velocity was not set.	The end position of the segment with reduced velocity is before its start position.	Ensure that the path position end is greater than the path position start. Verify the values of i_udiStartSegmentId, i_lrStartOffset, i_udiEndSegmentId, and i_lrEndOffset of SetReducedVelocity(...).

Issue

Cause

Solution

The reduced velocity was not set.

The end position of the segment with reduced velocity is before its start position.

Ensure that the path position end is greater than the path position start.

Verify the values of i_udiStartSegmentId, i_lrStartOffset, i_udiEndSegmentId, and i_lrEndOffset of SetReducedVelocity(...).

PathPositionStartAlreadyPassed

Enumeration name:	PathPositionStartAlreadyPassed
Enumeration value:	81
Description:	The robot already passed the start position on the path.

Issue	Cause	Solution
The reduced velocity was not set.	The robot has already passed the specified start position of the segment with reduced velocity on the path.	Ensure that SetReducedVelocity(...) is called early enough to ensure that the robot has not passed the start position on the path yet.

RobotFeedbackInvalid

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

The reduced velocity was not set.

StartOffsetRange

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

Issue	Cause	Solution
The reduced velocity was not set.	The value transferred at the input i_lrStartOffset is not within the valid range.	At the input i_lrStartOffset, a value less than or equal to the length of the selected segment (i_udiStartSegmentId) must be transferred.

StartSegmentIdNotFound

Enumeration name:	StartSegmentIdNotFound
Enumeration value:	31
Description:	The start segment Id was not found.

Issue	Cause	Solution
The reduced velocity was not set.	The segment with the ID transferred at the input i_udiStartSegmentId was not found in the last connected path.	Ensure that the segment with the ID i_udiStartSegmentId is in the last connected path.

StartSegmentIdRange

Enumeration name:	StartSegmentIdRange
Enumeration value:	27
Description:	The start segment Id is out of range.

Issue	Cause	Solution
The reduced velocity was not set.	The value transferred at the input i_lrStartOffset is not within the valid range.	At the input i_lrStartOffset, a value less than or equal to the length of the selected segment (i_udiStartSegmentId) must be transferred.