IF_RobotWarmStart - SetMotionParameter (Method)

Overview

Type:	Method
Available as of:	V2.12.1.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Setting the warm start motion parameters.

Description

With the method SetMotionParameter(...), the warm start motion parameters can be determined.

The parameters are:

oMaximum velocity (change of the position per time unit)

oMaximum acceleration (change of the velocity per time unit)

oMaximum deceleration (change of the velocity per time unit)

oRamp (change of the acceleration/deceleration) with which the warm start motion of each component of the robot has to be executed.

The specification of the maximum values of the jogging motion parameters:

oCan be executed again at any time.

oApplies to the warm start motion.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Specifies for which robot components the motion parameters have to be set. Valid values are: oET_RobotComponent.All oET_RobotComponent.Path oET_RobotComponent.CartesianAll oET_RobotComponent.CartesianX oET_RobotComponent.CartesianY oET_RobotComponent.CartesianZ oET_RobotComponent.AuxAxAll oET_RobotComponent.AuxAx1 ... AuxAx10 oET_RobotComponent.OrientationAll oET_RobotComponent.OrientationX … OrientationZ For further information, refer to ET_RobotComponent.
i_lrMaxVelocity	LREAL	Specified maximum velocity (change of the position per time unit). Unit: [Units/s] Value range: i_lrMaxVelocity > 0.0
i_lrMaxAcceleration	LREAL	Specified maximum acceleration (change of the velocity per time unit). Unit: [Units/s²] Value range: i_lrMaxAcceleration > 0.0
i_lrMaxDeceleration	LREAL	Specified maximum deceleration (change of the velocity per time unit). Unit: [Units/s²] Value range: i_lrMaxDeceleration ≥ 0.0 and i_lrMaxDeceleration <= Emergency MaxDeceleration set with the method IF_RobotConfiguration.SetEmergencyParameter Special case: MaxDeceleration = 0.0. In this case MaxDeceleration is set to MaxAcceleration in the jogging motion commands.
i_lrRamp	LREAL	Specified ramp (change of the acceleration/deceleration). Unit: [-] Value range: i_lrRamp > 0.0 and i_lrRamp >= Emergency ramp is set with the method IF_RobotConfiguration.SetEmergencyParameter. Detailed description of the motion parameter Ramp.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	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.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General, library-independent statement on the diagnostic.

A value not equal to ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
Ok	Ok	0	Ok
ExecutionAborted	ModeInvalid	26	The mode is invalid.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	AuxiliaryAxisNotConfigured	127	The auxiliary axis is not configured.
InputParameterInvalid	OrientationNotAvailable	199	The orientation is not available.
InputParameterInvalid	MaxVelocityRange	124	The maximum velocity is out of range.
InputParameterInvalid	MaxAccelerationRange	125	The maximum acceleration is out of range.
InputParameterInvalid	MaxDecelerationRange	126	The maximum deceleration is out of range.
InputParameterInvalid	RampRange	20	The ramp is out of range.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	127
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
Setting the warm start motion parameters was unsuccessful.	The value transferred at the input i_etComponent corresponds to no configured auxiliary axis.	Ensure that the axis is configured before using an auxiliary axis.

ComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	132
Description:	The component is invalid.

Issue	Cause	Solution
Setting the warm start motion parameters was unsuccessful.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent, a valid component is transferred.

MaxAccelerationRange

Enumeration name:	MaxAccelerationRange
Enumeration value:	125
Description:	The maximum acceleration is out of range.

Issue	Cause	Solution
Setting the warm start motion parameters was unsuccessful.	The value transferred at the input i_lrMaxAcceleration is not within the valid range.	At the input i_lrMaxAcceleration, a value greater than 0 must be transferred.

MaxDecelerationRange

Enumeration name:	MaxDecelerationRange
Enumeration value:	126
Description:	The maximum deceleration is out of range.

Issue	Cause	Solution
Setting the warm start motion parameters was unsuccessful.	The value transferred at the input i_lrMaxDeceleration is not within the valid range.	At the input i_lrMaxDeceleration, a value greater than 0 must be transferred. At the input i_lrMaxDeceleration, a value less than MaxEmergencyDeceleration must be transferred.

Issue

Cause

Solution

Setting the warm start motion parameters was unsuccessful.

The value transferred at the input i_lrMaxDeceleration is not within the valid range.

At the input i_lrMaxDeceleration, a value greater than 0 must be transferred.

At the input i_lrMaxDeceleration, a value less than MaxEmergencyDeceleration must be transferred.

MaxVelocityRange

Enumeration name:	MaxVelocityRange
Enumeration value:	124
Description:	The maximum velocity is out of range.

Issue	Cause	Solution
Setting the warm start motion parameters was unsuccessful.	The value transferred at the input i_IrMaxVelocity is not within the valid range.	At the input i_IrMaxVelocity, a value greater than 0 must be transferred.

ModeInvalid

Enumeration name:	ModeInvalid
Enumeration value:	26
Description:	The mode is invalid.

Issue	Cause	Solution
Setting the warm start motion parameters was unsuccessful.	The warm start mode Default is configured.	To set warm start motion parameters, ensure that the warm start mode Sequenced is configured.

RampRange

Enumeration name:	RampRange
Enumeration value:	20
Description:	The ramp is out of range.

Issue	Cause	Solution
Setting the warm start motion parameters was unsuccessful.	The value transferred at the input i_lrRamp is not within the valid range.	At the input i_lrRamp, a value greater than 0 must be transferred.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Setting the warm start motion parameters was successful.

OrientationNotAvailable

Enumeration name:	OrientationNotAvailable
Enumeration value:	199
Description:	The orientation is not available.

Issue	Cause	Solution
Setting the warm start motion parameters was unsuccessful.	The value transferred at the input i_etComponent corresponds to an orientation that is not available.	Ensure that the orientation is supported by the configured transformation of the robot.