FB_RobotTSeries - GetKinematicParameter (Method)
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Type: |
Method |
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Available as of: |
V2.0.0.0 |
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Versions: |
Current version |
This chapter provides information on:
oTask
Read kinematic parameter for a Lexium T Robot.
By calling up the method the kinematic parameter of a Lexium T Robot can be read.
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Input |
Data type |
Description |
|---|---|---|
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i_etName |
Type of kinematic parameter. |
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Output |
Data type |
Description |
|---|---|---|
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q_lrValue |
LREAL |
Mass of the selected kinematic parameter [kg]. |
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q_stCenterOfMass |
PDL.ST_Vectro3D |
Center of mass for the selected kinematic parameter [mm]. |
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q_etDiag |
General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
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q_etDiagExt |
POU-specific output for the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> 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 |
|
|
InputParameterInvalid |
15 |
The kinematic parameter is invalid. |
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Enumeration name: |
KinematicParameterInvalid |
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Enumeration value: |
15 |
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Description: |
The kinematic parameter is invalid. |
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Issue |
Cause |
Solution |
|---|---|---|
|
Reading the kinematic parameter was unsuccessful. |
The value transferred at the input i_etName is invalid. |
Ensure that at the input i_etName a valid kinematic parameter has been transferred. |
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Enumeration name: |
Ok |
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Enumeration value: |
0 |
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Description: |
Ok |
Reading the kinematic parameter was successful.
