With the method SetMotionProfileType(…), the motion profile type to be used for the selected robot component can be configured.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etComponent |
Robot component on which the motion profile type is set. |
|
|
i_etValue |
Motion profile type to be used for the selected robot component. |
|
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. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Ok |
|
ExecutionAborted |
ConfigurationAlreadyCompleted |
154 |
The configuration is already completed. |
|
ExecutionAborted |
ExternalPositionSourceConfigured |
357 |
The external position source is configured. |
|
InputParameterInvalid |
ComponentInvalid |
144 |
The component is invalid. |
|
InputParameterInvalid |
MotionProfileTypeInvalid |
390 |
The motion profile type is invalid. |
|
Enumeration name: |
ConfigurationAlreadyCompleted |
|
Enumeration value: |
154 |
|
Description: |
The configuration is already completed. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the motion profile type was not successful. |
The method ConfigDone( ) was already called successfully. |
Ensure that the method SetMotionProfileType() to configure the motion profile type is called before the configuration is completed. |
|
Enumeration name: |
ComponentInvalid |
|
Enumeration value: |
144 |
|
Description: |
The component is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the motion profile type 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 |
|---|---|---|
|
The configuration of the motion profile type 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. |
|
Enumeration name: |
MotionProfileTypeInvalid |
|
Enumeration value: |
390 |
|
Description: |
The motion profile type is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the motion profile type was not successful. |
The motion profile type transferred at the input i_etValue is invalid. |
Ensure that a valid element of enumeration type ROB.ET_MotionProfileType is transferred at the input i_etValue. |
|
The combination of the value transferred to the inputs i_etValue and i_etComponent is invalid. |
Transferring the value ROB.ET_MotionProfileType.MoveSyncMaxVelocity at the input i_etValue is valid only when ROB.ET_RobotComponent.AuxAxAll or ROB.ET_RobotComponent.OrientationAll is transferred at the input i_etComponent. |