IF_ConfigurationAdvanced - GetTrackingDeviationLimit (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

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	ROB.ET_RobotComponent	Specifies which maximum tracking deviation limit must be read. Valid values are: ROB.ET_RobotComponent.Space ROB.ET_RobotComponent.CartesianX ROB.ET_RobotComponent.CartesianY ROB.ET_RobotComponent.CartesianZ ROB.ET_RobotComponent.OrientationX ... Z

Input

Data type

Description

i_etComponent

ROB.ET_RobotComponent

Specifies which maximum tracking deviation limit must be read.

Valid values are:

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to 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	RobotComponentInvalid	144	The robot component is invalid.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Reading a maximum tracking deviation was successful.

RobotComponentInvalid

Enumeration name:	RobotComponentInvalid
Enumeration value:	144
Description:	The robot 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 at the input i_etComponent a valid component has been transferred.