IF_RobotSCARA - SetPositionLimitAxis (Method)

Overview

Type:	Method
Available as of:	V.2.16.2.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Set limits for the valid range of axis positions.

Description

By calling the method, the valid range of the axis of a Lexium SCARA Robot can be adapted.

To disable the functionality:

The values can be set to the default values (see hardware manual).
The values can be set to values greater than the default values.
The values can be set to i_lrMinValue = i_lrMaxValue = 0.0.

Interface

Input	Data type	Description
i_etComponent	ET_RobotSCARAComponent	Component of the Lexium SCARA Robot. Valid values are: ET_RobotSCARAComponent.AxisA ET_RobotSCARAComponent.AxisB
i_lrMinValue	LREAL	Minimum limit for the valid range of an axis.
I_lrMaxValue	LREAL	Maximum limit for the valid range of an axis.

Input

Data type

Description

i_etComponent

ET_RobotSCARAComponent

Component of the Lexium SCARA Robot.

Valid values are:

ET_RobotSCARAComponent.AxisA
ET_RobotSCARAComponent.AxisB

i_lrMinValue

LREAL

Minimum limit for the valid range of an axis.

I_lrMaxValue

LREAL

Maximum limit for the valid range of an axis.

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 for 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 for 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	Successful
InputParameterInvalid	ParameterOutOfRange	30	The parameter is out of range.
InputParameterInvalid	RobotSCARAComponentInvalid	129	The Lexium SCARA Robot component is invalid.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Successful

The request to change the limits of an axis was successful.

ParameterOutOfRange

Enumeration name:	ParameterOutOfRange
Enumeration value:	30
Description:	The parameter is out of range.

Issue	Cause	Solution
The request to change the limits of an axis was unsuccessful.	The value transferred at the input i_lrMinValue is greater than or equal to the value transferred at the input i_lrMaxValue.	Ensure that the value transferred at the input i_lrMaxValue is greater than the value transferred at the input i_lrMinValue.

RobotSCARAComponentInvalid

Enumeration name:	RobotSCARAComponentInvalid
Enumeration value:	129
Description:	The Lexium SCARA Robot component is invalid.

Issue	Cause	Solution
The request to change the limits of an axis was unsuccessful.	The value transferred at the input i_etComponent was indeterminable.	Ensure that a valid value of ET_RobotSCARAComponent is transferred at the input i_etComponent.