IF_Configuration - User3Ax (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Configuring a triaxial user-configured transformation robot.

Description

Besides using default kinematics, user-specific kinematics can be defined with the User3Ax(…) method.

The calculation of the direct and inverse transformation must be realized in a user POU that implements the ROB.IF_UserTransformation3Ax interface.

Kinematics with up to three axes and up to 3 degrees of freedom are possible.

A transformation for up to three axes can be parameterized. If a uniaxial transformation has to be parameterized, then the i_ifDriveA input must be allocated. For a biaxial transformation, the i_ifDriveA and i_ifDriveB inputs and for a triaxial transformation the i_ifDriveA, i_ifDriveB, and i_ifDriveC inputs.

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 for configuring 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_ifDriveC	SystemConfigurationItf.IF_Drive	Drive of axis C.
i_ifTransformation	ROB.IF_UserTransformation3Ax	Interface with the implementation to calculate the direct and inverse transformation.

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 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 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	154	The configuration is already completed.
ExecutionAborted	TransformationAlreadyConfigured	171	The transformation is already configured.
InputParameterInvalid	DriveAAlreadyInUse	164	The drive A is already in use.
InputParameterInvalid	DriveAInvalid	167	The drive A is invalid.
InputParameterInvalid	DriveAMissing	245	The drive A is unavailable.
InputParameterInvalid	DriveBAlreadyInUse	165	The drive B is already in use.
InputParameterInvalid	DriveBInvalid	168	The drive B is invalid.
InputParameterInvalid	DriveBMissing	246	The drive B is unavailable.
InputParameterInvalid	DriveCAlreadyInUse	166	The drive C is already in use.
InputParameterInvalid	DriveCInvalid	169	The drive C is invalid.
InputParameterInvalid	UserTransformation3AxInvalid	202	The user-configured transformation 3Ax is invalid.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	154
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:	164
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:	167
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.

DriveAMissing

Enumeration name:	DriveAMissing
Enumeration value:	245
Description:	The drive A is unavailable.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	A drive was transferred at the input i_ifDriveB or i_ifDriveC.	Ensure that at the input i_ifDriveA a valid drive has been transferred.

DriveBAlreadyInUse

Enumeration name:	DriveBAlreadyInUse
Enumeration value:	165
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:	168
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.

DriveBMissing

Enumeration name:	DriveBMissing
Enumeration value:	246
Description:	The drive B is unavailable.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	A drive was transferred at the i_ifDriveC input.	Ensure that at the input i_ifDriveB a valid drive has been transferred.

DriveCAlreadyInUse

Enumeration name:	DriveCAlreadyInUse
Enumeration value:	166
Description:	The drive C is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveC 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.

DriveCInvalid

Enumeration name:	DriveCInvalid
Enumeration value:	169
Description:	The drive C is invalid.

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

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the robot transformation was successful.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	171
Description:	The transformation is already configured.

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

UserTransformation3AxInvalid

Enumeration name:	UserTransformation3AxInvalid
Enumeration value:	202
Description:	The user-configured transformation 3Ax is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The interface transferred at the i_ifTransformation input is invalid.	Ensure that at the input i_ifTransformation a valid interface has been transferred.