IF_FastMove - Configure (Method)

Overview

Type:	Method
Available as of:	V2.11.0.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Configure and enable the FastMove functionality.

Description

When FastMove is configured, the methods IF_RobotMotion.FastMoveS and IF_RobotMotion.FastMoveSExtended can be used to send move commands to the Schneider Electric P-Series robot where the motion parameters are calculated automatically to run the robot close to its maximum performance.

Furthermore, a tuning can be enabled, where the calculated parameters will be optimized to help achieve maximum performance.

Any further call of the method overwrites the values.

Interface

Input	Data type	Description
i_xUseTuning	BOOL	TRUE: Tuning is enabled, the calculated motion parameters will be optimized to help achieve maximum performance. FALSE: Only the calculated motion parameters are used.
i_lrMaxTrackingDeviationOnPath	LREAL	Maximum tracking deviation in 3D space that is allowed during the movement along the path. This input is ignored when i_xUseTuning is FALSE. Value range: i_lrMaxTrackingDeviationOnPath > 0
i_lrMaxTrackingDeviationInTarget	LREAL	Maximum tracking deviation in 3D space that is allowed when the TCP reaches the target of the movement. This input is ignored when i_xUseTuning is FALSE. Value range: i_lrMaxTrackingDeviationOnPath > 0

Input

Data type

Description

i_xUseTuning

BOOL

TRUE: Tuning is enabled, the calculated motion parameters will be optimized to help achieve maximum performance.

FALSE: Only the calculated motion parameters are used.

i_lrMaxTrackingDeviationOnPath

LREAL

Maximum tracking deviation in 3D space that is allowed during the movement along the path. This input is ignored when i_xUseTuning is FALSE.

Value range: i_lrMaxTrackingDeviationOnPath > 0

i_lrMaxTrackingDeviationInTarget

LREAL

Maximum tracking deviation in 3D space that is allowed when the TCP reaches the target of the movement.

This input is ignored when i_xUseTuning is FALSE.

Value range: i_lrMaxTrackingDeviationOnPath > 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	Successful
InputParameterInvalid	TrackingDeviationOnPathRange	108	The value of the parameter tracking deviation on path is out of range.
ExecutionAborted	TrackingDeviationInTargetRange	109	The value of the parameter tracking deviation in target is out of range.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Successful

The configuration was successful.

TrackingDeviationOnPathRange

Enumeration name:	TrackingDeviationOnPathRange
Enumeration value:	108
Description:	The value of the parameter tracking deviation on path is out of range.

Issue	Cause	Solution
The configuration was aborted.	The value transferred at the input i_lrMaxTrackingDeviationOnPath lies outside the valid range.	Ensure that the transferred value for i_lrMaxTrackingDeviationOnPath is greater than 0.0, in case i_xUseTuning is TRUE.

TrackingDeviationInTargetRange

Enumeration name:	TrackingDeviationInTargetRange
Enumeration value:	109
Description:	The value of the parameter tracking deviation in target is out of range.

Issue	Cause	Solution
The configuration was aborted.	The value transferred at the input i_lrMaxTrackingDeviationOnPath lies outside the valid range.	Ensure that the transferred value for i_lrMaxTrackingDeviationInTarget is greater than 0.0 in case i_xUseTuning is TRUE.