FB_EntitiesHandler - AddRotativeConveyor (Method)

Overview

Type:

Method

Available as of:

V1.6.0.0

This chapter provides information on:

Task

Add a new rotative conveyor.

Description

The method AddRotativeConveyor adds a new rotative conveyor entity to the function block.

NOTE: It is possible to reconfigure an already added rotative conveyor by calling the method again for the same rotative conveyor ID.

Interface

Input

Data type

Description

i_stData

ST_RotativeConveyorEntityData

Structure containing the data on the rotative conveyor to add.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic. A value unequal 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 of q_etDiagExt

Description

Ok

Ok

0

Ok

Ok

ConveyorReconfigured

249

The selected conveyor is already added and is reconfigured.

ExecutionAborted

MaxNumberOfConveyorsExceeded

150

The maximum number of configurable conveyors is reached.

InputParameterInvalid

AngleInvalid

243

The angle is invalid

InputParameterInvalid

ConveyorIdDuplicated

149

A conveyor entity already exists with the same ID.

InputParameterInvalid

ConveyorIdInvalid

145

A provided conveyor ID is invalid.

InputParameterInvalid

ConveyorNameInvalid

151

The name assigned to a conveyor entity is invalid.

InputParameterInvalid

PlaneInvalid

37

The selected working plane is invalid.

InputParameterInvalid

OrientationConventionInvalid

38

Invalid orientation convention.

InputParameterInvalid

RadiusInvalid

244

The radius is invalid

AngleInvalid

Enumeration name:

AngleInvalid

Enumeration value:

243

Description:

The angle is invalid

Issue

Cause

Solution

A rotative conveyor has not been added to the list.

i_stData.lrDistanceAngle contains an invalid value.

Ensure that the values are > 0.0 and ≤ 360.0.

ConveyorIdDuplicated

Enumeration name:

ConveyorIdDuplicated

Enumeration value:

149

Description:

A conveyor entity already exists with the same ID.

Issue

Cause

Solution

A rotative conveyor has not been added to the list. A rotative conveyor with the same ID has already been added to the list.

A conveyor with the same ID is already added to the list.

Ensure that conveyors and rotative conveyors do not share the same IDs.

ConveyorIdInvalid

Enumeration name:

ConveyorIdInvalid

Enumeration value:

145

Description:

A provided conveyor ID is invalid.

Issue

Cause

Solution

A rotative conveyor has not been added to the list. The selected conveyor id is invalid.

i_stData.etSystemId contains an invalid value.

Ensure that the conveyor ID is in the range ET_SystemEntity.Conveyor1...ET_ SystemEntity.Conveyor30.

ConveyorNameInvalid

Enumeration name:

ConveyorNameInvalid

Enumeration value:

151

Description:

The name assigned to a conveyor entity is invalid.

Issue

Cause

Solution

A rotative conveyor has not been added to the list.

i_stData.sName contains an empty string or a conveyor with the same string has already been assigned.

  • Ensure that the name of the conveyor is not an empty string.

  • Ensure that the name of the conveyor is unique.

ConveyorReconfigured

Enumeration name:

ConveyorReconfigured

Enumeration value:

249

Description:

The selected conveyor is already added and is reconfigured.

Status message: Adding and reconfiguring of the selected conveyor was successful.

MaxNumberOfConveyorsExceeded

Enumeration name:

MaxNumberOfConveyorsExceeded

Enumeration value:

150

Description:

The maximum number of configurable conveyors is reached.

Issue

Cause

Solution

Cannot add a new conveyor entity, maximum number reached

It is not possible to add a new rotative conveyor since the maximum number of conveyors has been reached.

Ensure not to add more than SERT. Gc_udiMaxNumberOfConveyors conveyors to the function block.

Ok

Enumeration name:

Ok

Enumeration value:

0

Description:

Success

OrientationConventionInvalid

Enumeration name:

OrientationConventionInvalid

Enumeration value:

38

Description:

Invalid orientation convention.

Issue

Cause

Solution

A rotative conveyor has not been added to the list.

i_stData.stBasePose.etOrientationConvention contains an invalid orientation convention value.

Ensure that the orientation convention has one of the following values:

  • ROB.ET_OrientationConvention.XYZ

  • ROB.ET_OrientationConvention.ZYX

PlaneInvalid

Enumeration name:

PlaneInvalid

Enumeration value:

37

Description:

The selected working plane is invalid.

Issue

Cause

Solution

A rotative conveyor has not been added to the list.

i_stData.etSurfacePlane contains an invalid value.

Select a valid surface plane. Ensure that the surface plane is in the range ROB.ET_WorkingPlane.XY...ROB.ET_WorkingPlane.YZ.

RadiusInvalid

Enumeration name:

RadiusInvalid

Enumeration value:

244

Description:

The radius is invalid

Issue

Cause

Solution

A rotative conveyor has not been added to the list.

i_stData.lrInnerRadius or i_stData.lrOuterRadius contains an invalid value.

Ensure that i_stData.lrInnerRadius ≤ i_stData.lrOuterRadius.