IF_RobotConfigurationAdvanced - SetVelocityLimitationAxes (Method)

Overview

Type	Method
Available as of:	V2.5.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Initializing and activating the velocity limitation for robot axes.

Description

Calling the method SetVelocityLimitationAxes(…) the velocity limitation for robot axes is initialized and activated. The velocity is limited to the configured value in the drive parameter MaxVel rated with a configurable limit factor.

NOTE: In case of virtual drives, use the drive parameter UserMaxVel to define the maximum velocity allowed for the axis in this application.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Component for which the limit is set. Valid values are: ET_RobotComponent.AxisAll ET_RobotComponent.AxisA ET_RobotComponent.AxisB ET_RobotComponent.AxisC ET_RobotComponent.AxisD ET_RobotComponent.AxisE ET_RobotComponent.AxisF
i_lrUserLimit	LREAL	User velocity limit for the given component. The value of the drive parameter MaxVel is rated to the user limit. Unit: [%] Value range: 0 < i_lrUserLimit ≤ 100
i_lrMaxRefPositionDeviation	LREAL	Maximum reference position deviation for the given component in case of the limitation of the axis velocity becomes active. Unit: [°] Value range: i_lrMaxRefPositionDeviation > 0

Input

Data type

Description

i_etComponent

ET_RobotComponent

Component for which the limit is set.

Valid values are:

ET_RobotComponent.AxisAll
ET_RobotComponent.AxisA
ET_RobotComponent.AxisB
ET_RobotComponent.AxisC
ET_RobotComponent.AxisD
ET_RobotComponent.AxisE
ET_RobotComponent.AxisF

i_lrUserLimit

LREAL

User velocity limit for the given component.

The value of the drive parameter MaxVel is rated to the user limit.

Unit: [%]

Value range: 0 < i_lrUserLimit ≤ 100

i_lrMaxRefPositionDeviation

LREAL

Maximum reference position deviation for the given component in case of the limitation of the axis velocity becomes active.

Unit: [°]

Value range: i_lrMaxRefPositionDeviation > 0

Output	Data type	Description
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	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.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General, library-independent statement on the diagnostic.

A value not equal to ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
Ok	Ok	0	Ok
ExecutionAborted	TransformationMissing	113	The transformation is unavailable.
ExecutionAborted	ConfigurationAlreadyCompleted	105	The configuration is already completed.
ExecutionAborted	DriveNotConfigured	65	The drive is not configured.
InputParameterInvalid	UserLimitRange	194	The user limit is out of range.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	MaxRefPositionDeviationRange	195	The maximum reference position deviation is out of range.

ComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	132
Description:	The component is invalid.

Issue	Cause	Solution
Configurating the velocity limitation was not successful.	The range of the value transferred at input i_etComponent is invalid.	Verify that at the input i_etComponent a valid component is transferred.

ConfigurationAlreadyCompleted

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

Issue	Cause	Solution
Configurating the velocity limitation was not successful.	The configuration of the robot is already completed. The method ConfigDone(...) is already called up successfully.	Verify that the method SetVelocityLimitationAxes(…) is called once for the given component before the configuration is completed.

DriveNotConfigured

Enumeration name:	DriveNotConfigured
Enumeration value:	65
Description:	The drive is not configured.

Issue	Cause	Solution
Configurating the velocity limitation was not successful.	The value of the drive transferred at the input i_etComponent is not configured.	Verify that at the input i_etComponent an already configured component is transferred.

MaxRefPositionDeviationRange

Enumeration name:	MaxRefPositionDeviationRange
Enumeration value:	195
Description:	The maximum reference position deviation is out of range.

Issue	Cause	Solution
Configurating the velocity limitation was not successful.	The range of the value transferred at input i_lrMaxRefPositionDeviation is invalid.	Verify that at the input i_lrMaxRefPositionDeviation a value greater than zero is transferred.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Configurating the velocity limitation was successful.

TransformationMissing

Enumeration name:	TransformationMissing
Enumeration value:	113
Description:	The transformation is unavailable.

Issue	Cause	Solution
Configurating the velocity limitation was not successful.	No transformation of the robot is configured yet.	Call a configuration for a transformation, for example Delta3Ax(...) before calling SetVelocityLimitationAxes(…).

UserLimitRange

Enumeration name:	UserLimitRange
Enumeration value:	194
Description:	The user limit is out of range.

Issue	Cause	Solution
Configurating the velocity limitation was not successful.	The range of the value transferred at input i_lrUserLimit is invalid.	Verify that the transferred value to input i_lrUserLimit is greater than zero and smaller or equal to 100.