IF_RobotConfiguration - Articulated2Ax (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

NOTE: Using the transformation Articulated2Ax requires license points.

License points are only required for library versions earlier than V2.6.1.0. For more information on license points, refer to License Model for PacDrive Software Packages.

Number of license points: 25

License string: ROB.Articul2Ax

The license points are requested during a successful call of the configuration method

This chapter provides information on:

Task

Configuring a biaxial Articulated robot.

Description

With the method Articulated2Ax(...), the robot can be configured as a biaxial Articulated robot with two degrees of freedom.

NOTE: If a method to configure a transformation was already called up successfully (q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok), then it is not possible to overwrite the parameterization by calling up another method to configure a transformation.

Interface

Input	Data type	Description
i_ifDriveA	SystemConfigurationItf.IF_Drive	Drive of axis A.
i_ifDriveB	SystemConfigurationItf.IF_Drive	Drive of axis B.
i_etPlane	ET_WorkingPlane	Specification in which working plane the robot is operating.
i_lrLengthA	LREAL	Length of the robot arm A. Value range: i_lrLengthA > 0.0
i_lrLengthB	LREAL	Length of the robot arm B. Value range: i_lrLengthB > 0.0

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.

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ConfigurationAlreadyCompleted	105	The configuration is already completed.
ExecutionAborted	TransformationAlreadyConfigured	106	The transformation is already configured.
InputParameterInvalid	DriveAAlreadyInUse	36	The drive A is already in use.
InputParameterInvalid	DriveAInvalid	48	The drive A is invalid.
InputParameterInvalid	DriveBAlreadyInUse	37	The drive B is already in use.
InputParameterInvalid	DriveBInvalid	49	The drive B is invalid.
InputParameterInvalid	LengthARange	160	The LengthA is out of range.
InputParameterInvalid	LengthBRange	161	The LengthB is out of range.
InputParameterInvalid	PlaneInvalid	107	The plane is invalid.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	105
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration of the robot has already been completed. The method ConfigDone(...) has already been called up successfully.	Ensure that no transformation configuration method, for example Delta3Ax(...) or AddAuxAx(...), is called after the configuration has been completed.

DriveAAlreadyInUse

Enumeration name:	DriveAAlreadyInUse
Enumeration value:	36
Description:	The drive A is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveA is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once, and correct if necessary.

DriveAInvalid

Enumeration name:	DriveAInvalid
Enumeration value:	48
Description:	The drive A is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveA is invalid.	At the input i_ifDriveA, a valid drive must be transferred.

DriveBAlreadyInUse

Enumeration name:	DriveBAlreadyInUse
Enumeration value:	37
Description:	The drive B is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveB is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once, and correct if necessary.

DriveBInvalid

Enumeration name:	DriveBInvalid
Enumeration value:	49
Description:	The drive B is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveB is invalid.	At the input i_ifDriveB, a valid drive must be transferred.

LengthARange

Enumeration name:	LengthARange
Enumeration value:	160
Description:	The LengthA is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthA lies outside the valid range.	At the input i_lrLengthA, a value greater than 0.0 must be transferred.

LengthBRange

Enumeration name:	LengthBRange
Enumeration value:	161
Description:	The LengthB is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_IrLengthB lies outside the valid range.	At the input i_lrLengthB, a value greater than 0.0 must be transferred.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the robot transformation was successful.

PlaneInvalid

Enumeration name:	PlaneInvalid
Enumeration value:	107
Description:	The plane is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_etPlane is invalid.	At the input i_etPlane, a value contained in ET_WorkingPlane must be transferred.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	106
Description:	The transformation is already configured.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration of the robot transformation has already been completed successfully.	Ensure that a configuration for a transformation is only called once.