IF_ConfigurationAdvanced - SetTrackingDeviationLimit (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Setting the maximum tracking deviation.

Description

With the method SetTrackingDeviationLimit(…), the maximum tracking deviation along the path or the Cartesian component of the TCP position can be set.

Interface

Input	Data type	Description
i_etComponent	ROB.ET_RobotComponent	Specifies which maximum tracking deviation must be set. Valid values are: ROB.ET_RobotComponent.All ROB.ET_RobotComponent.Space ROB.ET_RobotComponent.CartesianAll ROB.ET_RobotComponent.CartesianX ROB.ET_RobotComponent.CartesianY ROB.ET_RobotComponent.CartesianZ ROB.ET_RobotComponent.OrientationX ... Z
i_lrValue	LREAL	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] Default value: 10.0 Value range: i_lrValue > 0.0
i_lrFactor	LREAL	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: [-] Default value: 1.0 Value range: i_lrFactor ≥ 1.0

Input

Data type

Description

i_etComponent

ROB.ET_RobotComponent

Specifies which maximum tracking deviation must be set.

Valid values are:

i_lrValue

LREAL

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]

Default value: 10.0

Value range: i_lrValue > 0.0

i_lrFactor

LREAL

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: [-]

Default value: 1.0

Value range: i_lrFactor ≥ 1.0

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.

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	RobotComponentInvalid	144	The robot component is invalid.
InputParameterInvalid	TrackingDeviationFactorRange	95	The tracking deviation factor is out of range.
InputParameterInvalid	TrackingDeviationLimitRange	94	The tracking deviation limit is out of range.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the maximum tracking deviation was successful.

RobotComponentInvalid

Enumeration name:	RobotComponentInvalid
Enumeration value:	144
Description:	The robot component is invalid.

Issue	Cause	Solution
The configuration of the 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.

TrackingDeviationFactorRange

Enumeration name:	TrackingDeviationFactorRange
Enumeration value:	95
Description:	The tracking deviation factor is out of range.

Issue	Cause	Solution
The configuration of the maximum tracking deviation was not successful.	The value transferred at the input i_IrFactor is outside the valid range.	At the input i_lrFactor, a value greater than or equal to 1 must be transferred.

TrackingDeviationLimitRange

Enumeration name:	TrackingDeviationLimitRange
Enumeration value:	94
Description:	The tracking deviation limit is out of range.

Issue	Cause	Solution
The configuration of the maximum tracking deviation was not successful.	The value transferred at the input i_IrValue is outside the valid range.	At the input i_lrValue, a value greater than 0 must be transferred.