IF_RobotMotion - ClearSegmentsFromId (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Deleting issued motion commands.

Description

With the method ClearSegmentsFromId(...), an already issued motion job with the i_udiSegmentId Id, as well as the motion jobs following this motion job can be deleted again.

Case examples explain the behavior of the method ClearSegmentsFromId(…).

Interface

Input	Data type	Description
i_udiSegmentId	UDINT	Id of the motion job that has to be deleted. The motion jobs following thereafter are also deleted. The motion job that has to be deleted with the i_udiSegmentId Id is searched for on the the connected paths configured in the robot. Special case: Id = 0 -> In this case the motion jobs configured in the robot are deleted. Requirement for this is, that the robot is in standstill - IF_RobotFeedback.xInMoiton = FALSE.

Input

Data type

Description

i_udiSegmentId

UDINT

Id of the motion job that has to be deleted. The motion jobs following thereafter are also deleted.

The motion job that has to be deleted with the i_udiSegmentId Id is searched for on the the connected paths configured in the robot.

Special case: Id = 0 -> In this case the motion jobs configured in the robot are deleted.

Requirement for this is, that the robot is in standstill - IF_RobotFeedback.xInMoiton = FALSE.

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.

Case Example 1

Initial situation:

oFB_Robot.xEnable = TRUE -> FB_Robot.xActive = TRUE AND FB_Robot.xReady = TRUE.

oFB_Robot.xStart = FALSE -> The robot is not starting to process motion commands.

oMotion commands (MoveL, MoveC, ...) have been issued. See graphic.

o IF_RobotFeedback.xInMotion = FALSE.

1. The issued motion jobs have to be deleted again.

Variant 1:

ifRobotMotion.ClearSegmentsFromId(   i_udiSegmentId := 0,
                                     q_etDiag => etDiag,
                                     q_etDiagExt => etDiagExt,
                                     q_sMsg => sMsg);

Result of the call-up:

oThe issued motion jobs are deleted.

oDiagnostic message: q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok.

Variant 2:

ifRobotMotion.ClearSegmentsFromId(   i_udiSegmentId := 10,
                                     q_etDiag => etDiag,
                                     q_etDiagExt => etDiagExt,
                                     q_sMsg => sMsg);

Result of the call-up:

oThe issued motion jobs are deleted.

oDiagnostic message: q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok.

2. The motion job with SegmentId = 20 and the following thereafter have to be deleted.

ifRobotMotion.ClearSegmentsFromId(   i_udiSegmentId := 20,
                                     q_etDiag => etDiag,
                                     q_etDiagExt => etDiagExt,
                                     q_sMsg => sMsg);

Result of the call-up:

oThe motion job with SegmentId = 20 and the following thereafter are deleted.

oDiagnostic message: q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok.

3. The motion job with SegmentId = 30 and the following thereafter have to be deleted.

ifRobotMotion.ClearSegmentsFromId(   i_udiSegmentId := 30,
                                     q_etDiag => etDiag,
                                     q_etDiagExt => etDiagExt,
                                     q_sMsg => sMsg);

Result of the call-up:

oThe motion job with SegmentId = 30 and the following thereafter are deleted.

oDiagnostic message: q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok.

Case Example 2

Initial situation:

o FB_Robot.xEnable = TRUE -> FB_Robot.xActive = TRUE AND FB_Robot.xReady = TRUE.

oFB_Robot.xStart = TRUE -> The robot starts processing motion jobs.

o Motion commands (MoveL, MoveC, ...) have been issued. See graphic.

oIF_RobotFeedback.xInMotion = TRUE -> The robot is processing the motion job with SegmentId = 10.

1. The issued motion jobs have to be deleted.

Result of the call-up:

oThis is no longer possible at this stage, because the robot is processing the motion job with SegmentId = 10 and is in motion.

oDiagnostic message: q_etDiag = GD.ET_Diag.ExecutionAborted AND q_etDiagExt = ET_DiagExt.AlreadyInSegment.

2. The motion job with SegmentId = 10 and the following thereafter have to be deleted.

Result of the call-up:

oThis is no longer possible at this stage because the robot is processing the motion job with SegmentId = 10 and is in motion.

oDiagnostic message: q_etDiag = GD.ET_Diag.ExecutionAborted AND q_etDiagExt = ET_DiagExt.AlreadyInSegment.

3. The motion job with JobId = 20 and the following thereafter have to be deleted.

Requirement:

oIt is possible to stop before the motion job starts with SegmentId = 20.

Result of the call-up:

oThe motion job with SegmentId = 20 and the following thereafter are deleted.

oDiagnostic message: q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok.

Requirement:

oIt is not possible to stop before the motion job starts with SegmentId = 20.

Result of the call-up:

oThe motion job with SegmentId = 20 and the following thereafter are NOT deleted.

oDiagnostic message: q_etDiag = GD.ET_Diag.ExecutionAborted AND q_etDiagExt = ET_DiagExt.StopInFrontOfSegmentNotPossible.

4. The motion job with JobId = 30 and the following thereafter have to be deleted.

Requirement:

oIt is possible to stop before the motion job starts with SegmentId = 30.

Result of the call-up:

oThe motion job with SegmentId = 30 and the following thereafter are deleted.

oDiagnostic message: q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok.

Case Example 3

Initial situation:

oFB_Robot.xEnable = TRUE -> FB_Robot.xActive = TRUE AND FB_Robot.xReady = TRUE.

oFB_Robot.xStart = TRUE ->FALSE.

oMotion commands (MoveL, MoveC, ...) have been issued. See graphic.

oIF_RobotFeedback.xInMotion = FALSE -> The robot is not in motion, but is already processing the motion job with SegmentId = 10.

1. The issued motion jobs have to be deleted.

Result of the call-up:

oThe issued motion jobs are deleted.

oDiagnostic message: q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok.

2. The motion job with SegmentId = 10 and the following thereafter have to be deleted.

Result of the call-up:

oThe issued motion jobs are deleted.

oDiagnostic message: q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok.

3. The motion job with SegmentId = 20 and the following thereafter have to be deleted.

Result of the call-up:

oThe motion job with SegmentId = 20 and the following thereafter are deleted.

oDiagnostic message: q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok.

4. The motion job with SegmentId = 30 and the following thereafter have to be deleted.

Result of the call-up:

oThe motion job with SegmentId = 30 and the following thereafter are deleted.

oDiagnostic message: q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok.

Case Example 4

Initial situation:

oFB_Robot.xEnable = TRUE -> FB_Robot.xActive = TRUE AND FB_Robot.xReady = TRUE.

oFB_Robot.xStart = TRUE.

oMotion commands (MoveL, MoveC, ...) have been issued. See graphic.

oIF_RobotFeedback.xInMotion = TRUE -> The robot is in motion and is processing the motion job with SegmentId = 20.

1. The motion job with SegmentId = 10 and the following thereafter have to be deleted.

Result of the call-up:

oThe motion job with SegmentId = 10 cannot be deleted, because the robot is already processing the motion job with SegmentId = 20.

oDiagnostic message: q_etDiag = GD.ET_Diag.ExecutionAborted AND q_etDiagExt = ET_DiagExt.SegmentAlreadyPassed.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	AlreadyInSegment	80	The robot is already in the segment.
ExecutionAborted	AlreadyInZone	73	The robot is already in the zone.
ExecutionAborted	NoConnectedPathAvailable	9	There is no connected path available.
ExecutionAborted	SegmentAlreadyPassed	101	The robot already passed the segment.
ExecutionAborted	SegmentNotFound	100	The segment was not found.
ExecutionAborted	StopInFrontOfSegmentNotPossible	102	The robot cannot stop in front of the segment.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
UnexpectedProgramBehavior	InterfaceInvalid	3	An interface is invalid.

AlreadyInSegment

Enumeration name:	AlreadyInSegment
Enumeration value:	80
Description:	The robot is already in the segment.

Issue	Cause	Solution
No motion job was deleted.	The motion job with the Id transferred at the input i_udiSegmentId is already traveling.	Ensure that ClearSegmentsFromId(...) is called early enough to make sure that the robot has not entered the segment that is intended to be deleted.

AlreadyInZone

Enumeration name:	AlreadyInZone
Enumeration value:	73
Description:	The robot is already in the zone.

Issue	Cause	Solution
No motion job was deleted.	The robot is already in the zone prior to the motion job with the Id transferred at the input i_udiSegmentId.	Ensure that ClearSegmentsFromId(...) is called early enough to make sure that the robot is not in the zone prior to the segment that is intended to be deleted.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
No motion job was deleted.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Deleting motion jobs is not possible when an external position source for the robot components is configured. Do not delete motion jobs.

Issue

Cause

Solution

No motion job was deleted.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

Deleting motion jobs is not possible when an external position source for the robot components is configured.

Do not delete motion jobs.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	3
Description:	An interface is invalid.

No motion job was deleted.

NoConnectedPathAvailable

Enumeration name:	NoConnectedPathAvailable
Enumeration value:	9
Description:	There is no connected path available.

Issue	Cause	Solution
It was not possible to delete any motion job.	ClearSegmentsFromId(...) called but no connected path is available.	Create a connected path before calling ClearSegmentsFromId(...).

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The motion jobs from and including the Id transferred at the input i_udiSegmentId were deleted successfully.

SegmentAlreadyPassed

Enumeration name:	SegmentAlreadyPassed
Enumeration value:	101
Description:	The robot already passed the segment.

Issue	Cause	Solution
No motion job was deleted.	The motion job with the Id transferred at the input i_udiSegmentId was passed already.	Ensure that ClearSegmentsFromId(...) is called before the robot has passed the segment.

SegmentNotFound

Enumeration name:	SegmentNotFound
Enumeration value:	100
Description:	The segment was not found.

Issue	Cause	Solution
No motion job was deleted.	The motion job with the Id transferred at the input i_udiSegmentId was not found.	Ensure that a segment with the Id i_udiSegmentId was sent to the robot successfully.

StopInFrontOfSegmentNotPossible

Enumeration name:	StopInFrontOfSegmentNotPossible
Enumeration value:	102
Description:	The robot cannot stop in front of the segment.

Issue	Cause	Solution
No motion job was deleted.	It is no longer possible to stop prior to the motion job with the Id transferred at the input i_udiSegmentId.	Ensure that ClearSegmentsFromId(...) is called early enough so that the robot is able to stop before entering the segment.