FB_RoboticsAutoTunePSeries - Configuration (Method)

Overview

Type:	Method
Available as of:	V2.0.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Configuration of FB_RoboticsAutoTunePSeries.

Description

With the method Configuration(…), the function block FB_RoboticsAutoTunePSeries is configured and initialized (refer to SchneiderElectricRobotics Library Guide/Initial Start-Up). The configuration method must be called once after the robot including SchneiderElectricRobotics is completely configured.

The i_lrMinAcceleration defines the minimum acceleration used during the tuning phase. It is a good practice to start with a rather low minimum acceleration to enable the tuning algorithm to use its full potential.

The i_lrMaxAcceleration defines the maximum acceleration used during the tuning phase.

The parameters i_lrTrackingDeviationLimitOnPath and i_lrTrackingDeviationLimitInTarget define the maximum tracking deviation, the robot is allowed to run with. The tuning attempts to use the fastest acceleration and deceleration possible while keeping the robot movement within these tracking deviation limits.

During the tuning phase, the tracking deviation value can be greater than the configured limits as the algorithm attempts to move with different accelerations. Thus, the tracking deviation value configured on the robot must be greater to manage exceptions from the FB_Robot or FB_RoboticModule.

Furthermore, if the necessary acceleration or deceleration values to keep the movement within the limits are smaller than the configured minimum acceleration, the robot is forced to move with the minimum acceleration and the tracking deviation limit is not kept.

NOTE: If any parameter of the robot or the robot motion is modified (such as the motion height, ramp, control loop parameters), it is a good practice to restart the tuning.

Interface

Input	Data type	Description
i_lrTrackingDeviationLimitOnPath	LREAL	Maximum tracking deviation limit on path.
i_lrTrackingDeviationLimitInTarget	LREAL	Maximum tracking deviation limit 0.5 mm before reaching the target.
i_lrMinAcceleration	LREAL	Minimum acceleration which is kept even if the actual tracking deviation is greater than the configured limit.
i_lrMaxAcceleration	LREAL	Maximum acceleration which is used even if the tracking deviation limit is not reached.
i_ifRobotPSeries	SER.IF_RobotPSeries	Lexium P Robot interface.

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	Ok	0	Ok
OK	TrackingDeviationLimitClose	26	The tracking deviation limit is too close.
ConfigurationFailed	CommonInnerRingRange	36	Value of common inner ring is less or equal to radius steps.
	NumberOfAngleStepsInvalid	16	Number of angle steps is invalid.
	NumberOfHeightStepsInvalid	17	Number of height steps is invalid.
	NumberOfRadiusStepsInvalid	15	Number of radius steps is invalid.
	RadiusRange	4	Radius is out of range.
	StepHeightRange	18	Step height is out of configured range.
	TrackingDeviationLimitRange	13	The tracking deviation limit is out of range.
ExecutionAborted	ConfigurationAlreadyCompleted	25	The configuration is already completed.
	PSeriesConfigurationNotCompleted	31	The Lexium P Robot configuration is not completed.
	RobotConfigurationNotCompleted	32	The robot configuration is invalid.
	VirtualSystem	35	One or more axes working in virtual mode.
InputParameterInvalid	InterfaceInvalid	7	An interface is invalid.
	MaxAccelerationRange	41	The maximum acceleration is out of range.
	MinAccelerationRange	21	The minimum acceleration is out of range.
	TrackingDeviationLimitRange	13	The tracking deviation limit is out of range.
UnexpectedProgramBehavior	UnexpectedFeedback	1	A feedback value was invalid.

CommonInnerRingRange

Enumeration name:	CommonInnerRingRange
Enumeration value:	36
Description:	Value of common inner ring is less or equal to radius steps.

Issue	Cause	Solution
The value of common inner ring is greater or equal to the radius steps.	The value of GPL.Gc_udiCommonInnerRing is greater or equal to GPL.Gc_udiNumberOfRadiusSteps.	Verify that GPL.Gc_udiCommonInnerRing is less than GPL.Gc_udiNumberOfRadiusSteps. In case only one radius should be used, set GPL.Gc_udiNumberOfRadiusSteps to 1 and GPL.Gc_udiCommonInnerRing to 0.

Issue

Cause

Solution

The value of common inner ring is greater or equal to the radius steps.

The value of GPL.Gc_udiCommonInnerRing is greater or equal to GPL.Gc_udiNumberOfRadiusSteps.

Verify that GPL.Gc_udiCommonInnerRing is less than GPL.Gc_udiNumberOfRadiusSteps.

In case only one radius should be used, set GPL.Gc_udiNumberOfRadiusSteps to 1 and GPL.Gc_udiCommonInnerRing to 0.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	25
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of FB_RoboticsAutoTunePSeries was unsuccessful.	The configuration is already completed. The method Configuration(...) has already been called successfully.	Verify that the configuration method for the FB_RoboticsAutoTunePSeries is called only once, and adjust if necessary.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	7
Description:	An interface is invalid.

Issue	Cause	Solution
The Interface i_ifRobotPSeries is invalid.	The input i_ifRobotPSeries is equal to 0.	Verify that the FB_RobotPSeries transferred at the input i_ifRobotPSeries is initialized correctly, and adjust if necessary.
The Interface i_ifRobotPSeries is invalid.	The input i_ifRobotPSeries is not valid.	Verify that a valid FB_RobotPSeries is transferred at the input i_ifRobotPSeries, and adjust if necessary.

MaxAccelerationRange

Enumeration name:	MaxAccelerationRange
Enumeration value:	41
Description:	The maximum acceleration is out of range.

Issue	Cause	Solution
The maximum acceleration is out of range.	At the input i_lrMaxAcceleration, a value less or equal to 0.0 has been transferred.	Verify that i_lrMaxAcceleration is greater than 0, and adjust if necessary.
	At the input i_lrMaxAcceleration, a value less or equal to i_lrMinAcceleration has been transferred.	Verify that i_ lrMaxAcceleration is greater than i_lrMinAcceleration, and adjust if necessary.
	At the input i_lrMaxAcceleration, a value greater than MaxEmergencyDeceleration has been transferred.	Verify that i_lrMaxAcceleration is less or equal to MaxEmergencyDeceleration, and adjust if necessary.

MinAccelerationRange

Enumeration name:	MinAccelerationRange
Enumeration value:	21
Description:	The minimum acceleration is out of range.

Issue	Cause	Solution
The minimum acceleration is out of range.	At the input i_lrMinAcceleration, a value less or equal to 0.0 has been transferred.	Verify that i_lrMinAcceleration is greater than 0, and adjust if necessary.

NumberOfAngleStepsInvalid

Enumeration name:	NumberOfAngleStepsInvalid
Enumeration value:	16
Description:	Number of angle steps is invalid.

Issue	Cause	Solution
The number of angle steps configured in the GPL of the library is invalid.	The configured Gc_udiNumberOfAngleSteps is less or equal to 0.	Verify that Gc_udiNumberOfAngleSteps is greater than 0, and adjust if necessary.
	The configured Gc_udiNumberOfAngleSteps is greater than 360.	Verify that Gc_udiNumberOfAngleSteps is less or equal to 360, and adjust if necessary.

NumberOfHeightStepsInvalid

Enumeration name:	NumberOfHeightStepsInvalid
Enumeration value:	17
Description:	Number of height steps is invalid.

Issue	Cause	Solution
The number of height steps configured in the GPL of the library is invalid.	The configured Gc_udiNumberOfHeightSteps is less or equal to 0.	Verify that Gc_udiNumberOfHeightSteps is greater than 0, and adjust if necessary.

NumberOfRadiusStepsInvalid

Enumeration name:	NumberOfRadiusStepsInvalid
Enumeration value:	15
Description:	Number of radius steps is invalid.

Issue	Cause	Solution
The number of radius steps configured in the GPL of the library is invalid.	The configured Gc_udiNumberOfRadiusSteps is less or equal to 0.	Verify that Gc_udiNumberOfRadiusSteps is greater than 0, and adjust if necessary.
	The configured Gc_udiRobotRadius is less than Gc_udiNumberOfRadiusSteps.	Verify that Gc_udiRobotRadius is greater or equal to Gc_udiNumberOfRadiusSteps, and adjust if necessary.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Configuration of FB_RoboticsAutoTunePSeries was successful.

RadiusRange

Enumeration name:	RadiusRange
Enumeration value:	4
Description:	Radius is out of range.

Issue	Cause	Solution
The robot radius configured in the GPL is invalid.	The configured Gc_udiRobotRadius is smaller or equal to 0.	Verify that Gc_udiRobotRadius is greater than 0, and adjust if necessary.

PSeriesConfigurationNotCompleted

Enumeration name:	PSeriesConfigurationNotCompleted
Enumeration value:	31
Description:	The Lexium P Robot configuration is not completed.

Issue	Cause	Solution
The configuration of FB_RoboticsAutoTunePSeries was unsuccessful.	Configuration of Lexium P Robot is not completed.	Verify that the configuration method for SchneiderElectricRobotics and the robot are called, and both configurations have been completed successfully before calling the configuration method of FB_RoboticsAutoTune.

RobotConfigurationNotCompleted

Enumeration name:	RobotConfigurationNotCompleted
Enumeration value:	32
Description:	The robot configuration is invalid.

Issue	Cause	Solution
The configuration of the robot is not completed.	The robot configuration is not completed.	Verify that the robot is completely configured, and adjust if necessary.

StepHeightRange

Enumeration name:	StepHeightRange
Enumeration value:	18
Description:	Step height is out of configured range.

Issue	Cause	Solution
The number of height steps configured in the GPL of the library is invalid.	The configured Gc_udiStepHeight is smaller or equal to 0.	Verify that Gc_udiStepHeight is greater than 0, and adjust if necessary.

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 advisory messages or tracking deviation exceptions.	The tracking deviation limit value configured on the robot is smaller than: i_lrTrackingDeviationLimitOnPath * 1.5	Verify that the robot tracking deviation limit value is greater or equal than: i_lrTrackingDeviationLimitOnPath * 1.5, and adjust if necessary.
The robot tracking deviation factor is smaller 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 advisory messages or tracking deviation exceptions.

The tracking deviation limit value configured on the robot is smaller than:

i_lrTrackingDeviationLimitOnPath * 1.5

Verify that the robot tracking deviation limit value is greater or equal than:

i_lrTrackingDeviationLimitOnPath * 1.5, and adjust if necessary.

The robot tracking deviation factor is smaller 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
InputParameterInvalid The tracking deviation limit is out of range.	A value less or equal to 0.0 has been transferred at the input i_lrTrackingDeviationLimitOnPath.	Verify that i_lrTrackingDeviationLimitOnPath is greater than 0, and adjust if necessary.
	A value less or equal to 0.0 has been transferred at the input i_lrTrackingDeviationLimitInTarget.	Verify that i_lrTrackingDeviationLimitInTarget is greater than 0, and adjust if necessary.
	The value of i_lrTrackingDeviationLimitInTarget is greater than i_lrTrackingDeviationLimitOnPath.	Verify that i_lrTrackingDeviationLimitInTarget is less or equal to i_lrTrackingDeviationLimitOnPath, and adjust if necessary.
ConfigurationFailed 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.

VirtualSystem

Enumeration name:	VirtualSystem
Enumeration value:	35
Description:	One or more axes working in virtual mode.

Issue	Cause	Solution
One or more of the robot axes are virtual, a virtual robot cannot be tuned.	One or more of the main robot axes are virtual.	Verify that all main axes of the robot are set to real, and adjust if necessary.

UnexpectedFeedback

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

Configuration of FB_RoboticsAutoTunePSeries was unsuccessful.