IF_RobotConfiguration - User3Ax (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Configuring a triaxial user-configured transformation robot.

Description

Next to the use of default kinematics, user-specific kinematics can be defined by using the User3Ax(…) method.

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

Kinematics with up to three axes and up to three 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 = ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok), then it is not possible to overwrite the parameterization by calling up another method to configure a transformation.

Interface

Input	Data type	Description
i_ifDriveA	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis A.
i_ifDriveB	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis B.
i_ifDriveC	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis C.
i_ifTransformation	IF_UserTransformation3Ax	Interface with the implementation for calculating 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 GD.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 GD.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	105	The configuration is already completed.
ExecutionAborted	TransformationAlreadyConfigured	106	The transformation is already configured.
InputParameterInvalid	DriveAAlreadyInUse	36	The drive A is already in use.
InputParameterInvalid	DriveAInvalid	48	The drive A is invalid.
InputParameterInvalid	DriveAMissing	110	The drive A is unavailable.
InputParameterInvalid	DriveBAlreadyInUse	37	The drive B is already in use.
InputParameterInvalid	DriveBInvalid	49	The drive B is invalid.
InputParameterInvalid	DriveBMissing	109	The drive B is unavailable.
InputParameterInvalid	DriveCAlreadyInUse	38	The drive C is already in use.
InputParameterInvalid	DriveCInvalid	50	The drive C is invalid.
InputParameterInvalid	UserTransformation3AxInvalid	108	The user-configured transformation 3Ax is invalid.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	105
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:	36
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:	48
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:	110
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 a valid drive has been transferred at the input i_ifDriveA.

DriveBAlreadyInUse

Enumeration name:	DriveBAlreadyInUse
Enumeration value:	37
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:	49
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:	109
Description:	The drive B is unavailable.

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

DriveCAlreadyInUse

Enumeration name:	DriveCAlreadyInUse
Enumeration value:	38
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:	50
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.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the robot transformation was successful.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	106
Description:	The transformation is already configured.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration 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:	108
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 input i_ifTransformation is invalid.	Ensure that a valid interface has been transferred at the input i_ifTransformation.