FB_SoMotionGenerator - TakeJobAll (Method)

Overview

Type:	Method
Available as of:	V1.1.0.0

Task

Uninterruptible assignment of motion jobs to the SMG on up to three channels.

Description

Motion jobs to the SMG are assigned via the TakeJobAll method. As input parameters it has the job structures that contain the data of the motion jobs of the individual channels.

Interface

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic.

A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = GD.ET_Diag.Ok -> status message

q_etDiag <> GD.ET_Diag.Ok -> diagnostic message

Input/Output	Data type	Description
iq_stMotionJobA	ST_MotionJob	Job structure with the data of the motion job for the channel A
iq_stMotionJobB	ST_MotionJob	Job structure with the data of the motion job for the channel B
iq_stMotionJobC	ST_MotionJob	Job structure with the data of the motion job for the channel C

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ExtRefGenInvalid	42	The instance of the external setpoint device is invalid.
ExecutionAborted	JobBufferOverflow	34	The job buffer is full. It is not possible to initiate further jobs.
ExecutionAborted	JobParamCamMode	31	Job parameter stCam.etMode invalid
ExecutionAborted	JobParamCamXStartXEnd	26	Job parameter stCam.lrXStart >= stCam.lrXEnd
ExecutionAborted	JobParamChannelBundling	29	Job parameter xChannelBundling only for channel A
ExecutionAborted	JobParamJobType	14	Job parameter etJobType is outside the valid range.
ExecutionAborted	JobParamLambda	27	Job parameter stCam.stDwell.lrLambda is outside the valid range.
ExecutionAborted	JobParamMaster	32	Job parameter stCam.ifMaster is invalid.
ExecutionAborted	JobParamMasterSetposMode	33	Job parameter stCam.etMasterSetposMode is invalid.
ExecutionAborted	JobParamPosStartAbsJerk	20	Job parameter stPosStart.lrAbsJerk is outside the valid range.
ExecutionAborted	JobParamPosStartDelayType	22	Job parameter stPosStart.etDelayType is outside the valid range.
ExecutionAborted	JobParamPosStartMaxAcceleration	18	Job parameter stPosStart.lrMaxAcceleration is outside the valid range.
ExecutionAborted	JobParamPosStartMaxDeceleration	19	Job parameter stPosStart.lrMaxDeceleration is outside the valid range.
ExecutionAborted	JobParamPosStartPosition	16	Job parameter stPosStart.lrPosition is outside the valid range.
ExecutionAborted	JobParamPosStartPosMode	21	Job parameter stPosStart.etPosMode is outside the valid range.
ExecutionAborted	JobParamPosStartVelocity	17	Job parameter stPosStart.lrVelocity is outside the valid range.
ExecutionAborted	JobParamPosStopAbsJerk	25	Job parameter stPosStop.lrAbsJerk is outside the valid range.
ExecutionAborted	JobParamPosStopMaxAcceleration	23	Job parameter stPosStop.lrMaxAcceleration is outside the valid range.
ExecutionAborted	JobParamPosStopMaxDeceleration	24	Job parameter stPosStop.lrMaxDeceleration is outside the valid range.
ExecutionAborted	JobParamSetposMode	15	Job parameter etSetposMode is outside the valid range.
ExecutionAborted	JobParamStraight	28	Job parameter stCam.stDwell.lrStraight is outside the valid range.
ExecutionAborted	JobParamSystemCamProfileID	30	Job parameter stSystemCam.diProfileID is invalid.

ExtRefGenInvalid

Enumeration name:	ExtRefGenInvalid
Enumeration value:	42
Description:	The instance of the external setpoint device is invalid.

Issue	Cause	Solution
-	The connected external position generator does not support all required functionalities.	Use a position generator that supports all required functionalities. The interface transferred at the variable ST_MotionJob.stPositioning.stExternalPos.ifExternalPosGenerator or ST_MotionJob.stCam.stExternalCam.ifExternalCamGenerator is invalid.

Issue

Cause

Solution

The connected external position generator does not support all required functionalities.

Use a position generator that supports all required functionalities.

The interface transferred at the variable ST_MotionJob.stPositioning.stExternalPos.ifExternalPosGenerator or ST_MotionJob.stCam.stExternalCam.ifExternalCamGenerator is invalid.

JobBufferOverflow

Enumeration name:	JobBufferOverflow
Enumeration value:	34
Description:	The job buffer is full. It is not possible to initiate further jobs.

Issue	Cause	Solution
-	A channel has reached the maximum number of storable jobs and thus could not take over an issued job. xReadyForNewJobInTake of the channel is FALSE.	Before issuing a job, verify whether xReadyForNewJobInTake of the channel is TRUE.

JobParamCamMode

Enumeration name:	JobParamCamMode
Enumeration value:	31
Description:	Job parameter stCam.etMode invalid

Issue	Cause	Solution
-	The assigned value of the stCam.etMode variable is invalid.	stCam.etMode must be assigned with an element from ET_CamMode.

JobParamCamXStartXEnd

Enumeration name:	JobParamCamXStartXEnd
Enumeration value:	26
Description:	Job parameter stCam.lrXStart >= stCam.lrXEnd

Issue	Cause	Solution
-	The assigned value of the stCam.lrXStart is too high.	The value of the stCam.lrXStart variable must be less than the value of the stCam.lrXEnd variable.

JobParamChannelBundling

Enumeration name:	JobParamChannelBundling
Enumeration value:	29
Description:	Job parameter xChannelBundling only for channel A

Issue	Cause	Solution
-	The parameter stPosStart/stPosStop.xChannelBundling was set to TRUE for channel B or channel C.	Set the parameter stPosStart/stPosStop.xChannelBundling to TRUE only for channel A.

JobParamJobType

Enumeration name:	JobParamJobType
Enumeration value:	14
Description:	Job parameter etJobType is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the ST_MotionJob.etJobType variable is invalid.	ST_MotionJob.etJobType must be assigned with an element from ET_MotionJobType.

JobParamLambda

Enumeration name:	JobParamLambda
Enumeration value:	27
Description:	Job parameter stCam.stDwell.lrLambda is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the stCam.stDwellDwell.lrLambda variable is invalid.	lrLambda must be >= 0.0 and <= 1.0.

JobParamMaster

Enumeration name:	JobParamMaster
Enumeration value:	32
Description:	Job parameter stCam.ifMaster is invalid.

Issue	Cause	Solution
-	No valid master has been transferred to the stCam.ifMaster variable.	A valid master must be transferred to the stCam.ifMaster variable.
-	The connected master does not support all required functionalities.	The q_sMsg output shows which functionalities are not supported by the master. Use a master that supports all required functionalities.

Issue

Cause

Solution

No valid master has been transferred to the stCam.ifMaster variable.

A valid master must be transferred to the stCam.ifMaster variable.

The connected master does not support all required functionalities.

The q_sMsg output shows which functionalities are not supported by the master.

Use a master that supports all required functionalities.

JobParamMasterSetposMode

Enumeration name:	JobParamMasterSetposMode
Enumeration value:	33
Description:	Job parameter stCam.etMasterSetposMode is invalid.

Issue	Cause	Solution
-	The assigned value of the stCam.etMasterSetposMode variable is invalid.	etMasterSetposMode must be of type ET_SetposMode.

JobParamPosStartAbsJerk

Enumeration name:	JobParamPosStartAbsJerk
Enumeration value:	20
Description:	Job parameter stPosStart.lrAbsJerk is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the stPosStart.lrAbsJerk variable is invalid.	stPosStart.lrAbsJerk must be >= 0.001.

JobParamPosStartDelayType

Enumeration name:	JobParamPosStartDelayType
Enumeration value:	22
Description:	Job parameter stPosStart.etDelayType is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the variable stPosStart.etDelayType is invalid.	stPosStart.etDelayType must be assigned with an element from ET_PosStartDelayType.

JobParamPosStartMaxAcceleration

Enumeration name:	JobParamPosStartMaxAcceleration
Enumeration value:	18
Description:	Job parameter stPosStart.lrMaxAcceleration is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the stPosStart.lrMaxAcceleration variable is invalid.	stPosStart.lrMaxAcceleration must be >= 0.001.

JobParamPosStartMaxDeceleration

Enumeration name:	JobParamPosStartMaxDeceleration
Enumeration value:	19
Description:	Job parameter stPosStart.lrMaxDeceleration is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the stPosStart.lrMaxDeceleration variable is invalid.	stPosStart.lrMaxDeceleration must be >= 0.001.

JobParamPosStartPosition

Enumeration name:	JobParamPosStartPosition
Enumeration value:	16
Description:	Job parameter stPosStart.lrPosition is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the stPosStart.lrPosition variable is invalid.	In the case of a relative positioning (stPosStart.etPosMode = ET_PosMode.Relative) stPosStart.lrPosition must be >= 0.001.

JobParamPosStartPosMode

Enumeration name:	JobParamPosStartPosMode
Enumeration value:	21
Description:	Job parameter stPosStart.etPosMode is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the stPosStart.etPosMode variable is invalid.	stPosStart.etPosMode must have the value ET_PosMode.Absolute in the case of an absolute positioning or the value ET_PosMode.Relative in the case of a relative positioning.

JobParamPosStartVelocity

Enumeration name:	JobParamPosStartVelocity
Enumeration value:	17
Description:	Job parameter stPosStart.lrVelocity is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the stPosStart.lrVelocity variable is invalid.	stPosStart.lrVelocity must be >= 0.001.

JobParamPosStopAbsJerk

Enumeration name:	JobParamPosStopAbsJerk
Enumeration value:	25
Description:	Job parameter stPosStop.lrAbsJerk is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the stPosStop.lrAbsJerk variable is invalid.	stPosStop.lrAbsJerk must be >= 0.001.

JobParamPosStopMaxAcceleration

Enumeration name:	JobParamPosStopMaxAcceleration
Enumeration value:	23
Description:	Job parameter stPosStop.lrMaxAcceleration is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the stPosStop.lrMaxAcceleration variable is invalid.	stPosStop.lrMaxAcceleration must be >= 0.001.

JobParamPosStopMaxDeceleration

Enumeration name:	JobParamPosStopMaxDeceleration
Enumeration value:	24
Description:	Job parameter stPosStop.lrMaxDeceleration is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the stPosStop.lrMaxDeceleration variable is invalid.	stPosStop.lrMaxDeceleration must be >= 0.001.

JobParamSetposMode

Enumeration name:	JobParamSetposMode
Enumeration value:	15
Description:	Job parameter etSetposMode is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the etSetposMode variable is invalid.	etSetposMode must be of type ET_SetposMode.

JobParamStraight

Enumeration name:	JobParamStraight
Enumeration value:	28
Description:	Job parameter stCam.stDwell.lrStraight is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the stCam.stDwellDwell.lrStraight variable is invalid.	lrStraight must be >= 0.0 and <= 0.99.

JobParamSystemCamProfileID

Enumeration name:	JobParamSystemCamProfileID
Enumeration value:	30
Description:	Job parameter stSystemCam.diProfileID is invalid.

Issue	Cause	Solution
-	The assigned value of the stCam.stSystemCam.diProfileID variable is invalid.	Verify diProfileID.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Issuing of a motion job for the SMG was successful.