IF_RobotConfiguration - ModifyTrackingStopParameter (Method)

Overview

Type:	Method
Available as of:	V2.16.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Modifying a single parameter for a stop or an emergency stop of the tracking system.

Description

The method ModifyTrackingStopParameter(...) is used to modify one of the tracking stop parameters which have been set with the help of the method SetTrackingStopParameters.

The value for the stop deceleration must be smaller or equal to the emergency deceleration while the value for the stop ramp must be greater or equal to the emergency stop ramp that has been set for the selected coordinate system before. The current values can be read with the help of the method GetTrackingStopParameters.

Interface

Input	Data type	Description
i_etTrackingSystem	ET_CoordinateSystem	ID of the tracking system. Valid values are: ET_CoordinateSystem.Tracking1…ET_CoordinateSystem.Tracking30. A tracking system with the ID must be configured.
i_etParameter	ET_TrackingStopParameter	Parameter to be modified. Valid values are: ET_TrackingStopParameter.StopDeceleration ET_TrackingStopParameter.StopRamp ET_TrackingStopParameter.EmergencyDeceleration ET_TrackingStopParameter.EmergencyRamp
i_lrValue	LREAL	New value of the parameter. Valid value is: i_lrValue > 0.0 StopDeceleration ≤ EmergencyDeceleration StopRamp ≥ EmergencyRamp

Input

Data type

Description

i_etTrackingSystem

ET_CoordinateSystem

ID of the tracking system.

Valid values are: ET_CoordinateSystem.Tracking1…ET_CoordinateSystem.Tracking30.

A tracking system with the ID must be configured.

i_etParameter

ET_TrackingStopParameter

Parameter to be modified.

Valid values are:

ET_TrackingStopParameter.StopDeceleration

ET_TrackingStopParameter.StopRamp

ET_TrackingStopParameter.EmergencyDeceleration

ET_TrackingStopParameter.EmergencyRamp

i_lrValue

LREAL

New value of the parameter.

Valid value is: i_lrValue > 0.0

StopDeceleration ≤ EmergencyDeceleration

StopRamp ≥ EmergencyRamp

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	Ok
InputParameterInvalid	CoordinateSystemInvalid	117	The coordinate system is invalid.
InputParameterInvalid	CoordinateSystemNotConfigured	172	The coordinate system is not configured.
InputParameterInvalid	TrackingStopParameterInvalid	218	The stop parameter for a tracking system is invalid.
ExecutionAborted	TrackingStopParametersMissing	217	The stop parameters for a tracking system are not set.
InputParameterInvalid	EmergencyDecelerationRange	213	The emergency deceleration is out of range.
InputParameterInvalid	EmergencyRampRange	214	The emergency ramp is out of range.
InputParameterInvalid	StopDecelerationRange	215	The stop deceleration is out of range.
InputParameterInvalid	StopRampRange	216	The stop ramp is out of range.
UnexpectedProgramBehavior	UnexpectedFeedback	13	A feedback value was invalid.

CoordinateSystemInvalid

Enumeration name:	CoordinateSystemInvalid
Enumeration value:	117
Description:	The coordinate system is invalid.

Issue	Cause	Solution
The parameters were not set.	The value transferred at the input i_etTrackingSystem does not represent a tracking system.	Verify that at the input i_etTrackingSystem a configured tracking system is transferred, and correct if necessary.

CoordinateSystemNotConfigured

Enumeration name:	CoordinateSystemNotConfigured
Enumeration value:	172
Description:	The coordinate system is not configured.

Issue	Cause	Solution
The parameters were not set.	The value transferred at the input i_etTrackingSystem does not represent a configured tracking system.	Verify that at the input i_etTrackingSystem a configured tracking system is transferred, and correct if necessary.

EmergencyDecelerationRange

Enumeration name:	EmergencyDecelerationRange
Enumeration value:	213
Description:	The emergency deceleration is out of range.

Issue	Cause	Solution
The parameters were not set.	The value for the emergency deceleration transferred at the input i_lrValue is outside the valid range.	At the input i_lrValue, an emergency deceleration greater than 0 must be transferred.

EmergencyRampRange

Enumeration name:	EmergencyRampRange
Enumeration value:	214
Description:	The emergency ramp is out of range.

Issue	Cause	Solution
The parameters were not set.	The value for the emergency ramp transferred at the input i_lrValue is outside the valid range.	At the input i_lrValue, an emergency ramp greater than 0 must be transferred. At the input i_lrValue, an emergency ramp less or equal to the configured stop ramp must be transferred.

Issue

Cause

Solution

The parameters were not set.

The value for the emergency ramp transferred at the input i_lrValue is outside the valid range.

At the input i_lrValue, an emergency ramp greater than 0 must be transferred.

At the input i_lrValue, an emergency ramp less or equal to the configured stop ramp must be transferred.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The parameter was set successfully.

StopDecelerationRange

Enumeration name:	StopDecelerationRange
Enumeration value:	215
Description:	The stop deceleration is out of range.

Issue	Cause	Solution
The parameters were not set.	The value for the stop deceleration transferred at the input i_lrValue is outside the valid range.	At the input i_lrValue, a stop deceleration greater than 0 must be transferred. At the input i_lrValue, a stop deceleration less or equal to the configured emergency deceleration must be transferred.

Issue

Cause

Solution

The parameters were not set.

The value for the stop deceleration transferred at the input i_lrValue is outside the valid range.

At the input i_lrValue, a stop deceleration greater than 0 must be transferred.

At the input i_lrValue, a stop deceleration less or equal to the configured emergency deceleration must be transferred.

StopRampRange

Enumeration name:	StopRampRange
Enumeration value:	216
Description:	The stop ramp is out of range.

Issue	Cause	Solution
The parameters were not set.	The value for the stop ramp transferred at the input i_lrValue is outside the valid range.	At the input i_lrValue, a stop ramp greater than 0 must be transferred. At the input i_lrValue, a stop ramp greater or equal to the configured emergency ramp must be transferred.

Issue

Cause

Solution

The parameters were not set.

The value for the stop ramp transferred at the input i_lrValue is outside the valid range.

At the input i_lrValue, a stop ramp greater than 0 must be transferred.

At the input i_lrValue, a stop ramp greater or equal to the configured emergency ramp must be transferred.

TrackingStopParameterInvalid

Enumeration name:	TrackingStopParameterInvalid
Enumeration value:	218
Description:	The stop parameter for a tracking system is invalid.

Issue	Cause	Solution
The parameters were not set.	The value transferred at the input i_etParameter does not represent a valid stop parameter.	Verify that at the input i_etParameter a valid parameter is selected.

TrackingStopParametersMissing

Enumeration name:	TrackingStopParametersMissing
Enumeration value:	217
Description:	The stop parameters for a tracking system are not set.

Issue	Cause	Solution
The parameters were not set.	There are no stop parameters set for the tracking system selected via the input i_etTrackingSystem.	Call the method SetTrackingStopParameters for the tracking system i_etTrackingSystem at least once and set all parameters to valid values.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	13
Description:	A feedback value was invalid.

The parameter was not set. An invalid feedback value was returned.