IF_Configuration - SetEmergencyParameter (Method)

Overview

Type:	Method
Available as of:

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Setting the emergency parameters.

Description

With the method SetEmergencyParameter(…), the necessary data for an emergency stop must be transferred to the robot.

It is not possible to adjust the motion parameters for an active emergency stop. The adjusted values are provided and used for a later emergency stop, if required.

Interface

Input	Data type	Description
i_lrMaxDeceleration	LREAL	Specifies the deceleration (change of the velocity per time unit), with which the robot motion should reach a standstill in case of a falling edge at FB_Robot.xEnable. The specification of the deceleration can be executed again at any time. Unit: [Units/s²] Value range: i_lrMaxDeceleration > 0.0
i_lrRamp	LREAL	Specifies the ramp (change of the deceleration per time unit), with which the robot motion should reach a standstill in case of a falling edge at FB_Robot.xEnable. The specification of the ramp can be executed again at any time. Detailed description of the motion parameter Ramp. Unit: [-] Value range: i_lrRamp > 0.0
i_timRobotStopTimeLimit	TIME	Specifies the maximum time in which the robot must have stopped in case of a detected reaction TPL.ET_Reaction.SyncStopEL or TPL.ET_Reaction.SyncStopEH. Unit: [TIME] Value range: i_timRobotStopTimeLimit > 0 ms

Input

Data type

Description

i_lrMaxDeceleration

LREAL

Specifies the deceleration (change of the velocity per time unit), with which the robot motion should reach a standstill in case of a falling edge at FB_Robot.xEnable.

The specification of the deceleration can be executed again at any time.

Unit: [Units/s²]

Value range: i_lrMaxDeceleration > 0.0

i_lrRamp

LREAL

Specifies the ramp (change of the deceleration per time unit), with which the robot motion should reach a standstill in case of a falling edge at FB_Robot.xEnable.

The specification of the ramp can be executed again at any time.

Detailed description of the motion parameter Ramp.

Unit: [-]

Value range: i_lrRamp > 0.0

i_timRobotStopTimeLimit

TIME

Specifies the maximum time in which the robot must have stopped in case of a detected reaction TPL.ET_Reaction.SyncStopEL or TPL.ET_Reaction.SyncStopEH.

Unit: [TIME]

Value range: i_timRobotStopTimeLimit > 0 ms

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 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 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	Ok	0	Ok
InputParameterInvalid	MaxDecelerationRange	32	The maximum deceleration is out of range.
InputParameterInvalid	RampRange	35	The ramp is out of range.
InputParameterInvalid	TimRobotStopTimeRange	34	The TimRobot stop time is out of range.

MaxDecelerationRange

Enumeration name:	MaxDecelerationRange
Enumeration value:	32
Description:	The maximum deceleration is out of range.

Issue	Cause	Solution
The configuration of the emergency parameter of the robot was not successful.	The value transferred at the input i_lrMaxDeceleration is outside the valid range.	At the input i_lrMaxDeceleration, a value greater than 0 must be transferred. At the input i_lrMaxDeceleration, a value greater than the max deceleration of motion or jogging parameters must be transferred.

Issue

Cause

Solution

The configuration of the emergency parameter of the robot was not successful.

The value transferred at the input i_lrMaxDeceleration is outside the valid range.

At the input i_lrMaxDeceleration, a value greater than 0 must be transferred.

At the input i_lrMaxDeceleration, a value greater than the max deceleration of motion or jogging parameters must be transferred.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the emergency parameter of the robot was successful.

RampRange

Enumeration name:	RampRange
Enumeration value:	35
Description:	The ramp is out of range.

Issue	Cause	Solution
The configuration of the emergency parameter of the robot was not successful.	The value transferred at the input i_lrRamp is outside the valid range.	At the input i_lrRamp, a value greater than 0 must be transferred At the input i_lrRamp, a value smaller than the ramp of motion or jogging parameters must be transferred.

Issue

Cause

Solution

The configuration of the emergency parameter of the robot was not successful.

The value transferred at the input i_lrRamp is outside the valid range.

At the input i_lrRamp, a value greater than 0 must be transferred

At the input i_lrRamp, a value smaller than the ramp of motion or jogging parameters must be transferred.

TimRobotStopTimeRange

Enumeration name:	TimRobotStopTimeRange
Enumeration value:	34
Description:	The TimRobot stop time is out of range.

Issue	Cause	Solution
The configuration of the emergency parameter of the robot was not successful.	The value transferred at the input i_timRobotStopTimeLimit is outside the valid range.	At the input i_timRobotStopTimeLimit, a value greater than 0 must be transferred.