IF_ConfigurationAdvanced - GetMotionProfileType (Method)

Overview

Type:	Method
Available as of:	V2.15.0.0

This chapter provides information on:

With the method GetMotionProfileType(…), the configured motion profile type used for the selected robot component can be read.

Input	Data type	Description
i_etComponent	ET_RobotComponent	Robot component on which the motion profile type should be read.

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

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 = 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.

Data type	Description
ET_MotionProfileType	Configured motion profile type used for the selected robot component.

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ExternalPositionSourceConfigured	357	The external position source is configured.
InputParameterInvalid	ComponentInvalid	144	The component is invalid.

Issue	Cause	Solution
Reading the configured motion profile type for the selected robot component was not successful.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent a valid component is transferred. Valid components are ROB.ET_RobotComponent.AuxAxAll ROB.ET_RobotComponent.OrientationAll

Issue

Cause

Solution

Reading the configured motion profile type for the selected robot component was not successful.

The value transferred at the input i_etComponent is invalid.

Ensure that at the input i_etComponent a valid component is transferred.

Valid components are

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	357
Description:	The external position source is configured.

Issue	Cause	Solution
Reading the configured motion profile type for the selected robot component was not successful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Do not set the motion profile type. Setting the motion profile type is not possible when an external position source for the robot components is configured.

Reading the configured motion profile type for the selected robot component was successful.