The method SetStopOnPath(…) returns a unique identifier for each stop-on-path.
The unique identifier for each stop-on-path is incremented by 1.
After GPL.Gc_udiMaxNumberOfStopsOnPath is reached, the unique identifier is reset to 1.
With the method ResetStopOnPath(…), a stop-on-path command previously sent to the robot can be reset.
The following criteria must be met in order to issue a reset for the stop-on-path:
The robot must be initialized and ready to operate (FB_Robot.xEnable = TRUE and FB_Robot.xActive = TRUE and FB_Robot.xReady = TRUE).
The configuration of the robot must have been completed successfully (xConfigDone = TRUE).
At the time of the issuing, no other motion command can be processed.
The transferred stop command must have been sent to the robot and must be active.
To reset a requested stop-on-path, it is not necessary that:
Any on-going stop command is finished (robot is decelerating to the requested stop position) or
The robot has already stopped there.
|
Input |
Data type |
Description |
|---|---|---|
|
i_udiStopId |
UDINT |
Unique Id of the stop command which should be reset. This unique Id is returned by the method SetStopOnPath(…). Special case: Id = 0 In this case, all issued stops-on-path are reset. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message |
|
|
q_sMsg |
STRING[80] |
Event-triggered message that gives additional information on the diagnostic state. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Ok |
|
ExecutionAborted |
CommandRefused |
10 |
The command has been denied. |
|
ExecutionAborted |
ConfigInvalid |
1 |
The configuration is invalid. |
|
ExecutionAborted |
Disabled |
51 |
Disabled |
|
ExecutionAborted |
NotReady |
77 |
The robot is not ready. |
|
ExecutionAborted |
StopIdNotFound |
192 |
The stop Id was not found. |
|
ExecutionAborted |
ExternalPositionSourceConfigured |
205 |
The external position source is configured. |
|
InputParameterInvalid |
StopIdRange |
191 |
The stop Id is out of range. |
|
UnexpectedProgramBehavior |
UnexpectedFeedback |
13 |
A feedback value was invalid. |
|
Enumeration name: |
CommandRefused |
|
Enumeration value: |
10 |
|
Description: |
The command has been denied. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The motion job was aborted. |
A positioning command is already being processed. Two move commands, for example MoveL(...), MoveC(...), MoveS(...) or MoveSync(...), are called simultaneously (for example, out of two separate tasks). |
Ensure that move commands are called one after another and not simultaneously. You can use only one task to send move commands. |
|
Enumeration name: |
ConfigInvalid |
|
Enumeration value: |
1 |
|
Description: |
The configuration is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The motion job was aborted. |
The robot configuration is invalid. |
Call the method ConfigDone(...) to complete the configuration of the robot. |
|
Enumeration name: |
Disabled |
|
Enumeration value: |
51 |
|
Description: |
Disabled |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The motion job was aborted. |
FB_Robot.xEnable = FALSE -> The robot is not active. |
Set FB_Robot.xEnable :=TRUE to enable the robot. |
|
Enumeration name: |
ExternalPositionSourceConfigured |
|
Enumeration value: |
205 |
|
Description: |
The external position source is configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The motion job was aborted. |
An external position source for the robot components cartesian, orientation and auxiliary axes is configured. |
Resetting a stop-on-path is not possible when an external position source for the robot components is configured. Do not reset a stop-on-path. |
|
Enumeration name: |
NotReady |
|
Enumeration value: |
77 |
|
Description: |
The robot is not ready. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The motion job was aborted. |
The robot is not ready. |
Ensure that the configuration of the robot is finished, the robot is enabled and the drives are ready. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
The motion job was transferred successfully.
|
Enumeration name: |
StopIdNotFound |
|
Enumeration value: |
192 |
|
Description: |
The stop Id was not found. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the parameters of a stop-on-path was aborted. |
The given stop Id does not exist. |
Ensure that the stop with the given Id was sent to the robot and is still active. |
|
Enumeration name: |
StopIdRange |
|
Enumeration value: |
191 |
|
Description: |
The stop Id is out of range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The motion job was aborted. |
The value transferred at the input i_udiStopId lies outside the valid range. |
At the input i_udiStopId, a value less than 100 must be transferred. |