This method returns a set of configured parameters that describe a SCARA4Ax robot from both a kinematic and geometric point of view.
Access: PUBLIC
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Output |
Data type |
Description |
|---|---|---|
|
q_xError |
BOOL |
The output is set to TRUE if an error has been detected during the execution. |
|
q_etResult |
POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message. |
|
|
q_sResultMsg |
STRING(80) |
Event-triggered message that gives additional information on the diagnostic state. |