IF_RobotMotion - Execute (Method)
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Type: |
Method |
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Available as of: |
V2.11.1.0 |
This chapter provides information on:
oTask
Block or release the execution of sent commands, for example motion commands like IF_RobotMotion.MoveL(…) or IF_RobotMotion.MoveS(…).
When the method Execute(…) is called with i_xValue equal to FALSE, the execution of move commands following thereafter is blocked. Any move command which was sent before or released with a call of Execeute(…) with i_xValue equal to TRUE is executed.
Example sequence:
MoveL(i_udiSegmentId := 10, i_lrMaxZone := 10.0);
Execute(i_xValue = FALSE);
MoveL(i_udiSegmentId := 20, i_lrMaxZone := 0.0);
MoveL(i_udiSegmentId := 30, i_lrMaxZone := 10.0);
…
Execute(i_xValue := TRUE);
MoveL(i_udiSegmentId := 40, i_lrMaxZone := 0.0);
The MoveL(…) with SegmentId = 10 is started immediately. The segment with Id 20 is added to the connected path of the first segment. It will not be executed until the second call of the method Execute(…).
As Execute(…) is called with i_xValue equal to TRUE after the second call, the MoveL(…) with segment Id 40 will be appended to the connected path and executed immediately.
The parameterization of a requested change of the coordinate system, issued by a call of the method ChangeCoordinateSystem2(…), is validated during the call of Execute(…) with i_xValue set to TRUE.
A cold start of the robot sets the value of Execute to TRUE.
Also refer to:
oInteraction Between Method Execute and other Robotic features.
oBehavior of IF_RobotFeedback.rstLastTarget
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Input |
Data type |
Description |
|---|---|---|
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i_xValue |
BOOL |
FALSE: The execution of commands followed by that call is blocked. TRUE: The execution of sent commands is released. |
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Output |
Data type |
Description |
|---|---|---|
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q_etDiag |
General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
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q_etDiagExt |
POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message |
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q_sMsg |
STRING[80] |
Event-triggered message that gives additional information on the diagnostic state. |
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q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
0 |
Ok |
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ExecutionAborted |
10 |
The command has been denied. |
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ExecutionAborted |
205 |
The external position source is configured. |
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Enumeration name: |
CommandRefused |
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Enumeration value: |
10 |
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Description: |
The command has been denied. |
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Issue |
Cause |
Solution |
|---|---|---|
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Blocking or releasing the execution of commands was not successful. |
A command is already being processed. A command, for example MoveL(...), MoveC(...), MoveS(...) or MoveSync(...), is called simultaneously to the call of Execute(…). |
Ensure that commands are called one after another and not simultaneously. |
ExternalPositionSourceConfigured
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Enumeration name: |
ExternalPositionSourceConfigured |
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Enumeration value: |
205 |
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Description: |
The external position source is configured. |
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Issue |
Cause |
Solution |
|---|---|---|
|
Blocking or releasing the execution of commands was not successful. |
An external position source for the robot components cartesian, orientation and auxiliary axes is configured. |
Blocking or releasing the execution of commands is not possible when an external position source for the robot components is configured. Do not block or release the execution of commands. |
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Enumeration name: |
Ok |
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Enumeration value: |
0 |
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Description: |
Ok |
Blocking or releasing the execution of commands was successful.
