IF_RobotJogging - Stop (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Stopping the jogging motion.

Description

With the method Stop(...), a jogging motion job for a robot component can be stopped.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	The robot component for which a jogging motion job has to be stopped. Valid values are: ET_RobotComponent.Path ET_RobotComponent.CartesianX ET_RobotComponent.CartesianY ET_RobotComponent.CartesianZ ET_RobotComponent.OrientationX ET_RobotComponent.OrientationY ET_RobotComponent.OrientationZ ET_RobotComponent.AuxAx1 ... AuxAx10 For further information, refer to ET_RobotComponent.

Input

Data type

Description

i_etComponent

ET_RobotComponent

The robot component for which a jogging motion job has to be stopped.

Valid values are:

ET_RobotComponent.Path
ET_RobotComponent.CartesianX
ET_RobotComponent.CartesianY
ET_RobotComponent.CartesianZ
ET_RobotComponent.OrientationX
ET_RobotComponent.OrientationY
ET_RobotComponent.OrientationZ
ET_RobotComponent.AuxAx1 ... AuxAx10

For further information, refer to ET_RobotComponent.

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

q_etDiagExt

ET_DiagExt

POU-specific output on 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	JoggingNotActive	30	Jogging is not active.
OK	Ok	0	Ok
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	AuxiliaryAxisNotConfigured	127	The auxiliary axis is not configured.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.
InputParameterInvalid	OrientationNotAvailable	199	The orientation is not available.
UnexpectedProgramBehavior	InterfaceInvalid	3	An interface is invalid.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	127
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
Stopping a jogging motion job was aborted.	The auxiliary axis transferred at the input i_etComponent is not configured.	Ensure that the axis is configured before using an auxiliary axis.

ComponentInvalid

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

Issue	Cause	Solution
The jogging motion job was aborted.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component has been transferred.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
Stopping a jogging motion job was aborted.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Stopping a jogging motion job for the component Path is not possible when an external position source for the robot components is configured. Do not stop a jogging motion job for the component Path.

Issue

Cause

Solution

Stopping a jogging motion job was aborted.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

Stopping a jogging motion job for the component Path is not possible when an external position source for the robot components is configured.

Do not stop a jogging motion job for the component Path.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	3
Description:	An interface is invalid.

Stopping a jogging motion job was aborted.

JoggingNotActive

Enumeration name:	JoggingNotActive
Enumeration value:	30
Description:	Jogging is not active.

No jogging motion is active.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Stopping an active jogging motion job was executed successfully.

OrientationNotAvailable

Enumeration name:	OrientationNotAvailable
Enumeration value:	199
Description:	The orientation is not available.

Issue	Cause	Solution
The jogging motion job was aborted.	The orientation transferred at the input i_etComponent is not available.	Ensure that the transformation used supports the orientation.