FB_RoboticsAutoTunePSeries - SetMotionParameter (Method)

Overview

Type:	Method
Available as of:	V2.0.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Set the motion parameter for a specific target.

Description

With the method SetMotionParameter (…), the motion parameters for a specific movement are set and the tuning algorithm is started. If you do not want to execute the tuning algorithm, the property xReadOnly must be set to TRUE.

The movement must be one connected path to the target. Refer to chapter SetMotionParameter.

Example:

SetMotionParameter(Target)
MoveL(…)
MoveL(…)
MoveL(Target)
If xInTarget then
…
END_IF

Interface

Input	Data type	Description
i_udiMoveId	UDINT	ID of the next movement.
i_stTarget	PDL.ST_Vector3D	Target of the next movement.
i_etTargetCoordinateSystem	ROB.ET_CoordinateSystem	Coordinate system of the target.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[255]	Event-triggered message that gives more detailed information on the diagnostic state.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = GD.ET_Diag.Ok -> Status message

q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[255]

Event-triggered message that gives more detailed information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	MovementNotFinished	6	Last movement is not finished but a new one is requested.
	Ok	0	Ok
	PositionRange	23	Position range exceeded.
	TrackingDeviationLimitClose	26	The tracking deviation limit is too close.
ExecutionAborted	CSRZOffsetInvalid	14	CSRZ offset is different from the configured offset.
	NotConfigured	33	The robot is not configured.
	RobotNotReady	40	The FB_Robot is not ready.
	TrackingDeviationLimitRange	13	The tracking deviation limit is out of range.
InputParameterInvalid	MoveIdRange	2	Move ID is out of range.
	TargetCoordinateSystemInvalid	28	The target coordinate system is invalid.
	TargetCoordinateSystemNotConfigured	30	The target coordinate system is not configured.
UnexpectedProgramBehavior	StartCoordinateSystemInvalid	27	The start coordinate system is invalid.
	StartCoordinateSystemNotConfigured	29	The start coordinate system is not configured.
	UnexpectedFeedback	1	A feedback value was invalid.

CSRZOffsetInvalid

Enumeration name:	CSRZOffsetInvalid
Enumeration value:	14
Description:	CSRZ offset is different from the configured offset.

Issue	Cause	Solution
The CSR Z offset is invalid.	Difference in configured CSR offset and present CSR Z offset.	Modify the CSR Z offset to the configured CSR Z offset with the method ChangeCoordinateSystem(…). The valid CSR Z offset is written in the exception message.

MovementNotFinished

Enumeration name:	MovementNotFinished
Enumeration value:	6
Description:	Last movement is not finished but a new one is requested.

Issue	Cause	Solution
The previous movement is not finished.	The method SetMotionParameter was called before the robot reached the target specified in the previous call of SetMotionParameter.	Wait until the robot reaches the target of each movement before you call SetMotionParameter.

MoveIdRange

Enumeration name:	MoveIdRange
Enumeration value:	2
Description:	Move ID is out of range.

Issue	Cause	Solution
The move ID is out of range.	i_udiMoveId is less or equal to 0 or greater than GPL.Gc_udiNumberOfMoveIds.	Verify that the value of i_udiMoveId is greater than 0 and less or equal to GPL.Gc_udiNumberOfMoveIds, and adjust if necessary.

NotConfigured

Enumeration name:	NotConfigured
Enumeration value:	33
Description:	The robot is not configured.

Issue	Cause	Solution
Configuration is not valid.	Not configured. Call method Configuration first.	Verify that the method Configuration is called successfully.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Setting the motion parameter was successful.

PositionRange

Enumeration name:	PositionRange
Enumeration value:	23
Description:	Position range exceeded.

Issue	Cause	Solution
Position is out of range.	The start or target position is outside of the configured range.	Refer to the ApplicationLogger for more information and adjust the parameters of RoboticsAutoTune if necessary.

RobotNotReady

Enumeration name:	RobotNotReady
Enumeration value:	40
Description:	The FB_Robot is not ready.

Issue	Cause	Solution
The FB_Robot is not ready.	The robot function block is not ready.	Verify that the robot function block is enabled and reports that it is ready.

StartCoordinateSystemInvalid

Enumeration name:	StartCoordinateSystemInvalid
Enumeration value:	27
Description:	The start coordinate system is invalid.

Issue	Cause	Solution
The coordinate system for the start position is invalid.	The input i_etStartCoordinateSystem is invalid.	Verify that i_etStartCoordinateSystem is valid, and adjust if necessary.

StartCoordinateSystemNotConfigured

Enumeration name:	StartCoordinateSystemNotConfigured
Enumeration value:	29
Description:	The start coordinate system is not configured.

Issue	Cause	Solution
The coordinate system for the start position is not configured.	The input i_etStartCoordinateSystem is invalid.	Verify that the i_etStartCoordinateSystem is configured.

TargetCoordinateSystemInvalid

Enumeration name:	TargetCoordinateSystemInvalid
Enumeration value:	28
Description:	The target coordinate system is invalid.

Issue	Cause	Solution
The coordinate system for the target position is invalid.	The input i_etTargetCoordinateSystem is invalid.	Verify that i_etTargetCoordinateSystem is valid, and adjust if necessary.

TargetCoordinateSystemNotConfigured

Enumeration name:	TargetCoordinateSystemNotConfigured
Enumeration value:	30
Description:	The target coordinate system is not configured.

Issue	Cause	Solution
The coordinate system for the target position is not configured.	The input i_etTargetCoordinateSystem is invalid.	Verify that the i_etTargetCoordinateSystem is configured.

TrackingDeviationLimitClose

Enumeration name:	TrackingDeviationLimitClose
Enumeration value:	26
Description:	The tracking deviation limit is too close.

Issue	Cause	Solution
Configuration of FB_RoboticsAutoTunePSeries was successful.	The tracking deviation limit is close to the tracking deviation limit of the robot. The limitation of the robot can be exceeded during the tuning, resulting in tracking deviation advisories or tracking deviation exceptions.	The tracking deviation limit configured on the robot is lower than (i_lrTrackingDeviationLimitOnPath * 1.5). Verify that the robot tracking deviation limit is greater or equal than (i_lrTrackingDeviationLimitOnPath * 1.5), and adjust if necessary.
The robot tracking deviation factor is less than 1.5. Verify that the robot tracking deviation factor is greater or equal to 1.5, and adjust if necessary.

Issue

Cause

Solution

Configuration of FB_RoboticsAutoTunePSeries was successful.

The tracking deviation limit is close to the tracking deviation limit of the robot.

The limitation of the robot can be exceeded during the tuning, resulting in tracking deviation advisories or tracking deviation exceptions.

The tracking deviation limit configured on the robot is lower than (i_lrTrackingDeviationLimitOnPath * 1.5).

Verify that the robot tracking deviation limit is greater or equal than (i_lrTrackingDeviationLimitOnPath * 1.5), and adjust if necessary.

The robot tracking deviation factor is less than 1.5.

Verify that the robot tracking deviation factor is greater or equal to 1.5, and adjust if necessary.

TrackingDeviationLimitRange

Enumeration name:	TrackingDeviationLimitRange
Enumeration value:	13
Description:	The tracking deviation limit is out of range.

Issue	Cause	Solution
The tracking deviation limit is out of range.	The robot tracking deviation limit multiplied by its factor is less or equal to i_lrTrackingDeviationLimitOnPath.	Verify that the robot tracking deviation multiplied by its factor is greater than i_lrTrackingDeviationLimitOnPath, and adjust if necessary.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	1
Description:	A feedback value was invalid.

Getting the motion parameter was unsuccessful.