With the method SetMode(…), the mode with which a robot warm start is performed can be configured. By default, the warm start mode ET_WarmStartMode.Default is configured.
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Input |
Data type |
Description |
|---|---|---|
|
i_etValue |
Mode to perform a robot warm start. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
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. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
Ok |
Ok |
0 |
Ok |
|
ExecutionAborted |
ExternalPositionSourceConfigured |
205 |
The external position source is configured. |
|
InputParameterInvalid |
ModeInvalid |
26 |
The mode is invalid. |
|
Enumeration name: |
ExternalPositionSourceConfigured |
|
Enumeration value: |
205 |
|
Description: |
The external position source is configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Configuring the warm start mode was unsuccessful. |
An external position source for the robot components cartesian, orientation, and auxiliary axes is configured. |
Configuring the warm start mode Default is not possible when an external position source for the robot components is configured. Do not configure the warm start mode Default. |