FB_RobotPSeriesParameters - OptionalEquipment (Method)
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Type: |
Method |
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Available as of: |
V1.0.0.0 |
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Versions: |
Current version |
This chapter provides information on:
oTask
Add optional equipment to a Lexium P Robot.
By calling up the method optional equipment can be added to the robot selected in InitializeRobot.
The configured optional equipment can be verified with the property rateOptionalEquipment.
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Input |
Data type |
Description |
|---|---|---|
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i_etOptionalEquipment |
ET_OptionalEquipment |
Select the optional equipment. |
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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 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 |
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ExecutionAborted |
6 |
The robot is not initialized. |
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ExecutionAborted |
2 |
The robot type is invalid. |
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InputParameterInvalid |
8 |
The optional equipment is invalid. |
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InputParameterInvalid |
7 |
The optional equipment is indeterminable. |
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Enumeration name: |
Ok |
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Enumeration value: |
0 |
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Description: |
Ok |
The configuration of the optional equipment was successful.
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Enumeration name: |
OptionalEquipmentInvalid |
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Enumeration value: |
8 |
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Description: |
The optional equipment is invalid. |
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Issue |
Cause |
Solution |
|---|---|---|
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The configuration of the optional equipment was unsuccessful. |
The value transferred at the input i_etOptionalEquipment is invalid. |
Ensure that an element of the enumeration type ET_OptionalEquipment other than ET_OptionalEquipment.None is transferred. |
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Enumeration name: |
RobotNotInitialized |
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Enumeration value: |
6 |
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Description: |
The robot is not initialized. |
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Issue |
Cause |
Solution |
|---|---|---|
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The configuration of the optional equipment was unsuccessful. |
The Lexium P Robot is not initialized. |
Call the method InitializeRobot, and if required the method InitializeRotationalAxis, before calling the method OptionalEquipment. |
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Enumeration name: |
RobotTypeInvalid |
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Enumeration value: |
2 |
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Description: |
The robot type is invalid. |
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Issue |
Cause |
Solution |
|---|---|---|
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The configuration of the optional equipment was unsuccessful. |
The initialized robot type by the method InitializeRobot is invalid for the selected optional equipment. |
The configured robot type does not support the selected optional equipment. |
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Enumeration name: |
UnknownOptionalEquipment |
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Enumeration value: |
7 |
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Description: |
The optional equipment is indeterminable. |
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Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the optional equipment was unsuccessful. |
The value transferred at the input i_etOptionalEquipment is indeterminable. |
Ensure that an element of the enumeration type ET_OptionalEquipment is transferred. |
