IF_RobotConfiguration - AddAuxAx (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Return Value
Diagnostic Messages

Task

Adding an auxiliary axis to the robot.

Description

With the method AddAuxAx(...), an auxiliary axis can be added to the robot.

Optionally a period can be defined in which the auxiliary axis moves.

Interface

Input	Data type	Description
i_ifDrive	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive that shall be configured as an auxiliary axis.
i_lrPeriodStart	LREAL	Position of the auxiliary axis where the period starts.
i_lrPeriodLength	LREAL	Length of the auxiliary axis period. Value range: i_lrPeriodLength ≥ 0.0 i_lrPeriodLength = 0.0 -> The auxiliary axis does not have a period. The value entered in i_lrPeriodStart is ignored.

Input

Data type

Description

i_ifDrive

SystemConfigurationItf.IF_Drive

For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.

Drive that shall be configured as an auxiliary axis.

i_lrPeriodStart

LREAL

Position of the auxiliary axis where the period starts.

i_lrPeriodLength

LREAL

Length of the auxiliary axis period.

Value range: i_lrPeriodLength ≥ 0.0

i_lrPeriodLength = 0.0 -> The auxiliary axis does not have a period. The value entered in i_lrPeriodStart is ignored.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.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 unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = GD.ET_Diag.Ok -> status message

q_etDiag <> GD.ET_Diag.Ok -> diagnostic message

q_sMsg

STRING[80]

Event-triggered message that gives additional information on the diagnostic state.

Return Value

Data type	Description
ET_RobotComponent	Number of the added auxiliary axis

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ConfigurationAlreadyCompleted	105	The configuration is already completed.
ExecutionAborted	NoMoreAuxAxAvailable	34	There are no more AuxAx available.
InputParameterInvalid	DriveAlreadyInUse	35	The drive is already in use.
InputParameterInvalid	DriveInvalid	92	The drive is invalid.
InputParameterInvalid	PeriodLengthRange	99	The period length is out of range.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	105
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of the auxiliary axis 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.

DriveAlreadyInUse

Enumeration name:	DriveAlreadyInUse
Enumeration value:	35
Description:	The drive is already in use.

Issue	Cause	Solution
The configuration of the auxiliary axis was not successful.	The drive transferred at the input i_ifDrive 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.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	92
Description:	The drive is invalid.

Issue	Cause	Solution
The configuration of the auxiliary axis was not successful.	The drive that was transferred to the input i_ifDrive is invalid.	Ensure that a valid drive is transferred to the input i_ifDrive.

NoMoreAuxAxAvailable

Enumeration name:	NoMoreAuxAxAvailable
Enumeration value:	34
Description:	There are no more AuxAx available.

Issue	Cause	Solution
The configuration of the auxiliary axis was not successful.	No more auxiliary axes of the robot can be configured.	The maximum number of configurable auxiliary axes is Gc_udiMaxNumberOfAuxiliaryAxes.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the auxiliary axis was successful.

PeriodLengthRange

Enumeration name:	PeriodLengthRange
Enumeration value:	99
Description:	The period length is out of range.

Issue	Cause	Solution
The configuration of the auxiliary axis was not successful.	The value transferred at the input i_lrPeriodLength is outside the valid range.	At the input i_lrPeriodLength, a value greater than or equal to 0 must be transferred.