Reading the configured maximum resulting acceleration for starting or stopping a tracking movement as well as for limiting the resulting acceleration for space movement.
With the method GetMaxAccelerationResultant(...), the following configured maximum resulting accelerations (changes of the velocity per time unit) can be read:
The maximum resulting acceleration used to start and stop a tracking movement of the robot.
The maximum resulting acceleration used to limit a space movement.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etComponent |
Specification for which part of the robot the maximum resulting acceleration has to be read. Valid values are:
For further information, refer to ET_RobotComponent. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
POU-specific output for 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. |
|
Data type |
Description |
|---|---|
|
LREAL |
Value of the configured maximum resulting acceleration for starting or stopping a tracking movement (ET_RobotComponent.Tracking) as well as for limiting the resulting acceleration for space movement (ET_RobotComponent.Space). |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Ok |
|
ExecutionAborted |
ExternalPositionSourceConfigured |
205 |
The external position source is configured. |
|
InputParameterInvalid |
ComponentInvalid |
132 |
The component is invalid. |
|
Enumeration name: |
ComponentInvalid |
|
Enumeration value: |
132 |
|
Description: |
The component is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the maximum resulting acceleration was not successful. |
The value transferred at the input i_etComponent is invalid. |
Ensure that at the input i_etComponent a valid component has been transferred. |
|
Enumeration name: |
ExternalPositionSourceConfigured |
|
Enumeration value: |
205 |
|
Description: |
The external position source is configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the maximum resultant acceleration was not successful. |
An external position source for the robot components cartesian, orientation and auxiliary axes is configured. |
Reading the maximum resultant acceleration is not possible when an external position source for the robot components is configured. Do not read the maximum resultant acceleration. |