IF_RobotConfiguration - GetConfiguredDrive (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

oTask

Task

Reading the configured axes of the robot.

Description

With the method GetConfiguredDrive(…), the configured axes of the robot can be read.

If the axis transferred at the i_etComponent input is configured, then the SystemConfigurationItf.IF_Drive interface of the axis is issued.

For Modicon M262 Motion Controllers, the configured axis is provided by the output q_ifAxisIdentification.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Specification on which configured axis shall be read. Valid values are: oET_RobotComponent.AxisA oET_RobotComponent.AxisB oET_RobotComponent.AxisC oET_RobotComponent.AxisD oET_RobotComponent.AxisE oET_RobotComponent.AxisF oET_RobotComponent.AuxAx1 ... AuxAx10 For further information, refer to ET_RobotComponent.

Input

Data type

Description

i_etComponent

ET_RobotComponent

Specification on which configured axis shall be read.

Valid values are:

oET_RobotComponent.AxisA

oET_RobotComponent.AxisB

oET_RobotComponent.AxisC

oET_RobotComponent.AxisD

oET_RobotComponent.AxisE

oET_RobotComponent.AxisF

oET_RobotComponent.AuxAx1 ... AuxAx10

For further information, refer to ET_RobotComponent.

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.
q_lrPeriodStart	LREAL	Configured position of the auxiliary axis where the period starts.
q_lrPeriodLength	LREAL	Configured length of the auxiliary axis period.
q_ifAxisIdentification	CMI.IF_AxisIdentification	Configured axis of the robot. This output can only be used with Modicon M262 Motion Controllers.

Return Value

Data type	Description
SystemConfigurationItf.IF_Drive	SystemConfigurationItf.IF_Drive interface of the configured axis. For Modicon M262 Motion Controllers, the return value is 0. The configured axis is provided by the output q_ifAxisIdentification.

Data type

Description

SystemConfigurationItf.IF_Drive

SystemConfigurationItf.IF_Drive interface of the configured axis.

For Modicon M262 Motion Controllers, the return value is 0. The configured axis is provided by the output q_ifAxisIdentification.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	DriveNotConfigured	65	The drive is not configured.
OK	Ok	0	Ok
InputParameterInvalid	ComponentInvalid	132	The component is invalid.

ComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	132
Description:	The component is invalid.

Issue	Cause	Solution
Reading the configured axis was not successful.	The value transferred at the input i_etComponent is invalid.	Ensure that a valid component was transferred at the input i_etComponent.

DriveNotConfigured

Enumeration name:	DriveNotConfigured
Enumeration value:	65
Description:	The drive is not configured.

Reading the configured axis was successful.

The axis transferred at the input i_etComponent is not configured.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Reading the configured axis was successful.