IF_RobotConfiguration - SetTrackingStopParameters (Method)

Overview

Type:	Method
Available as of:	V2.16.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Setting the parameters for a stop and an emergency stop of the tracking system.

Description

The method SetTrackingStopParameters(...) must be used to set the stop and emergency stop parameters for all configured tracking systems when at least one rotative tracking system is configured or when the stop parameters for at least one tracking system are set.

The value for the stop deceleration must be less or equal to the emergency deceleration while the value for the stop ramp must be greater or equal to the emergency stop ramp.

The stop and the emergency stop of the tracking cannot be triggered by you, the stops are executed automatically by the system when the tracking is aborting its present synchronization or when an emergency stop for the robot is triggered.

Interface

Input	Data type	Description
i_etTrackingSystem	ET_CoordinateSystem	ID of the tracking system. Valid values are: ET_CoordinateSystem.Tracking1…ET_CoordinateSystem.Tracking30. A tracking system with the ID must be configured.
i_lrStopDeceleration	LREAL	Deceleration (modification of velocity) in case a stop is issued. Valid values are: Stop deceleration > 0.0 and stop deceleration ≤ emergency deceleration. Unit: [mm/sec²]
i_lrStopRamp	LREAL	Ramp (modification of deceleration) in case a stop is issued. Valid values are: Stop ramp > 0.0 and stop ramp ≥ emergency ramp.
i_lrEmergencyDeceleration	LREAL	Deceleration (modification of velocity) in case an emergency stop is issued. Valid values are: Emergency deceleration > 0.0 and emergency deceleration ≥ stop deceleration. Unit: [mm/sec²]
i_lrEmergencyRamp	LREAL	Ramp (modification of deceleration) in case an emergency stop is issued. Valid values are: Emergency ramp > 0.0 and emergency ramp ≤ stop ramp.

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	TrackingSourceConfigured	248	A tracking source is configured for the robot.
InputParameterInvalid	CoordinateSystemInvalid	117	The coordinate system is invalid.
InputParameterInvalid	CoordinateSystemNotConfigured	172	The coordinate system is not configured.
InputParameterInvalid	EmergencyDecelerationRange	213	The emergency deceleration is out of range.
InputParameterInvalid	EmergencyRampRange	214	The emergency ramp is out of range.
InputParameterInvalid	StopDecelerationRange	215	The stop deceleration is out of range.
InputParameterInvalid	StopRampRange	216	The stop ramp is out of range.

CoordinateSystemInvalid

Enumeration name:	CoordinateSystemInvalid
Enumeration value:	117
Description:	The coordinate system is invalid.

Issue	Cause	Solution
The parameters were not set.	The value transferred at the input i_etTrackingSystem does not represent a tracking system.	Verify that at the input i_etTrackingSystem a configured tracking system is transferred, and correct if necessary.

CoordinateSystemNotConfigured

Enumeration name:	CoordinateSystemNotConfigured
Enumeration value:	172
Description:	The coordinate system is not configured.

Issue	Cause	Solution
The parameters were not set.	The value transferred at the input i_etTrackingSystem does not represent a configured tracking system.	Verify that at the input i_etTrackingSystem a configured tracking system is transferred, and correct if necessary.

EmergencyDecelerationRange

Enumeration name:	EmergencyDecelerationRange
Enumeration value:	213
Description:	The emergency deceleration is out of range.

Issue	Cause	Solution
The parameters were not set.	The value transferred at the input i_lrEmergencyDeceleration is outside the valid range.	At the input i_lrEmergencyDeceleration, a value greater than 0 must be transferred.

EmergencyRampRange

Enumeration name:	EmergencyRampRange
Enumeration value:	214
Description:	The emergency ramp is out of range.

Issue	Cause	Solution
The parameters were not set.	The value transferred at the input i_lrEmergencyRamp is outside the valid range.	At the input i_lrEmergencyRamp, a value greater than 0 must be transferred.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The parameters were set successfully.

StopDecelerationRange

Enumeration name:	StopDecelerationRange
Enumeration value:	215
Description:	The stop deceleration is out of range.

Issue	Cause	Solution
The parameters were not set.	The value transferred at the input i_lrStopDeceleration is outside the valid range.	At the input i_lrStopDeceleration, a value greater than 0 must be transferred. At the input i_lrStopDeceleration, a value smaller than or equal to i_lrEmergencyDeceleration must be transferred.

Issue

Cause

Solution

The parameters were not set.

The value transferred at the input i_lrStopDeceleration is outside the valid range.

At the input i_lrStopDeceleration, a value greater than 0 must be transferred.

At the input i_lrStopDeceleration, a value smaller than or equal to i_lrEmergencyDeceleration must be transferred.

StopRampRange

Enumeration name:	StopRampRange
Enumeration value:	216
Description:	The stop ramp is out of range.

Issue	Cause	Solution
The parameters were not set.	The value transferred at the input i_lrStopRamp is outside the valid range.	At the input i_lrStopRamp, a value greater than 0 must be transferred. At the input i_lrStopRamp, a value greater or equal to i_lrEmergencyRamp must be transferred.

Issue

Cause

Solution

The parameters were not set.

The value transferred at the input i_lrStopRamp is outside the valid range.

At the input i_lrStopRamp, a value greater than 0 must be transferred.

At the input i_lrStopRamp, a value greater or equal to i_lrEmergencyRamp must be transferred.

TrackingSourceConfigured

Enumeration name:	TrackingSourceConfigured
Enumeration value:	248
Description:	A tracking source is configured for the robot.

Issue	Cause	Solution
The call of the method was not successful.	A tracking source was configured for the robot.	Tracking parameters must be configured at the tracking source and no longer directly on the robot. For further information, refer to ROB.IF_TrackingSource.

Issue

Cause

Solution

The call of the method was not successful.

A tracking source was configured for the robot.

Tracking parameters must be configured at the tracking source and no longer directly on the robot.

For further information, refer to ROB.IF_TrackingSource.