Calling the method GetVelocityLimitationAxes(…), the velocity limitation for robot axes is read.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etComponent |
Component for which the limit is set. Valid values are:
|
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
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. |
|
q_lrUserLimit |
LREAL |
User-defined velocity limit for the given component. The value of the drive parameter MaxVel is rated with the user limit.Unit: [%] |
|
q_lrMaxRefPositionDeviation |
LREAL |
Maximum reference position deviation for the given component in case of the limitation of the axis velocity becomes active. Unit: [°] |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
Ok |
Ok |
0 |
Ok |
|
Ok |
DriveNotConfigured |
65 |
The drive is not configured. |
|
InputParameterInvalid |
ComponentInvalid |
132 |
The component is invalid. |
|
Enumeration name: |
ComponentInvalid |
|
Enumeration value: |
132 |
|
Description: |
The component is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Configurating the velocity limitation was not successful. |
The the value transferred at input i_etComponent is invalid. |
Verify that at the input i_etComponent a valid component is transferred. |
|
Enumeration name: |
DriveNotConfigured |
|
Enumeration value: |
65 |
|
Description: |
The drive is not configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Configurating the velocity limitation was not successful. |
The component transferred at the input i_etComponent is not configured. |
Verify that at the input i_etComponent an already configured component is transferred. |