IF_FastMove - SetParameter (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

Set parameters for the FastMove functionality.

Description

The following values can be set:

ET_FastMoveParameter.AccelerationFactor
- A percentage that is applied to the calculated acceleration in case tuning is NOT enabled.
- Value range: 0 < AccelerationFactor ≤ 200.
- Standard value: 100
ET_FastMoveParameter.DecelerationFactor
- A percentage that is applied to the calculated deceleration in case tuning is NOT enabled.
- Value range: 0 < DecelerationFactor ≤ 200
- Stadard value: 100
ET_FastMoveParameter.TrackingDeviationOnPath
- The maximum tracking deviation in 3D space that is allowed on the path when tuning is enabled.
- Value range: 0 < TrackingDeviationOnPath
ET_FastMoveParameter.TrackingDeviationInTarget
- The maximum tracking deviation in 3D space that is allowed on the TCP reaches the target of the movement, when tuning is enabled.
- Value range: 0 < TrackingDeviationInTarget

Interface

Input	Data type	Description
i_etName	ET_FastMoveParameter	Name of the FastMove parameter to be set. Valid values: ET_FastMoveParameter.AccelerationFactor ET_FastMoveParameter.DecelerationFactor ET_FastMoveParameter.TrackingDeviationOnPath ET_FastMoveParameter.TrackingDeviationInTarget
i_lrValue	LREAL	Value of the FastMove parameter to be set.

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
ExecutionAborted	FastMoveNotEnabled	113	The FastMove functionality is not enabled.
ExecutionAborted	FastMoveTuningNotEnabled	114	The FastMove tuning is not enabled.
InputParameterInvalid	AccelerationFactorRange	110	The value of the parameter acceleration factor is out of range.
InputParameterInvalid	DecelerationFactorRange	111	The value of the parameter deceleration factor is out of range
InputParameterInvalid	TrackingDeviationOnPathRange	108	The value of the parameter tracking deviation on path is out of range.
InputParameterInvalid	TrackingDeviationInTargetRange	109	The value of the parameter tracking deviation in target is out of range.
ExecutionAborted	FastMoveParameterUnknown	112	The FastMove parameter is indeterminable.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Successful

The parameter was set successfully.

FastMoveNotEnabled

Enumeration name:	FastMoveNotEnabled
Enumeration value:	113
Description:	The FastMove functionality is not enabled.

Issue	Cause	Solution
The parameter could not be set successfully	The FastMove functionality is not enabled.	Ensure that the method IF_FastMove.Configure was called successfully before calling SetParameter.

FastMoveTuningNotEnabled

Enumeration name:	FastMoveTuningNotEnabled
Enumeration value:	114
Description:	The FastMove tuning is not enabled.

Issue	Cause	Solution
Setting the tracking deviation was not successful.	The tuning functionality is not enabled.	Ensure that the method IF_FastMove.Configure was called successfully before calling SetParameter and that i_xUseTuning was set to TRUE.

AccelerationFactorRange

Enumeration name:	AccelerationFactorRange
Enumeration value:	110
Description:	The value of the parameter acceleration factor is out of range.

Issue	Cause	Solution
Setting the acceleration was not successful.	The value transferred at the input i_lrValue lies outside the valid range.	Ensure that the transferred value is 0 < i_lrValue ≤ 200.

DecelerationFactorRange

Enumeration name:	DecelerationFactorRange
Enumeration value:	110
Description:	The value of the parameter deceleration factor is out of range

Issue	Cause	Solution
Setting the deceleration was not successful.	The value transferred at the input i_lrValue lies outside the valid range.	Ensure that the transferred value is 0 < i_lrValue ≤ 200.

TrackingDeviationOnPathRange

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

Issue	Cause	Solution
Setting the deceleration was not successful.	The value transferred at the input i_lrValue lies outside the valid range.	Ensure that the transferred value is greater than 0.0.

TrackingDeviationInTargetRange

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

Issue	Cause	Solution
Setting the deceleration was not successful.	The value transferred at the input i_lrValue lies outside the valid range.	Ensure that the transferred value is greater than 0.0.

FastMoveParameterUnknown

Enumeration name:	FastMoveParameterUnknown
Enumeration value:	112
Description:	The FastMove parameter is indeterminable.

Issue	Cause	Solution
Setting the parameter was not successful.	The value transferred at the input i_etName is not a valid value.	Ensure that a valid value is transferred at the input i_etName.