IF_RobotPSeriesCalibration - WriteEncoderRotationalAxis (Method)

Overview

This chapter provides information on:

Write encoder of the rotational axis.

By calling up the method the encoder of the rotational axis is written to the value of i_lrValue.

For additional information, refer to the chapter Calibration.

Input	Data type	Description
i_lrValue	LREAL	Value of the encoder that it should have at the end of the calibration.

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

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	Successful
ExecutionAborted	CalibrationAlreadyExecuting	55	Calibration is already executing.
ExecutionAborted	MissingProgramCall	32	The program call is unavailable.
ExecutionAborted	RobotIsActive	12	The robot is active.
ExecutionAborted	RotationalAxisInvalid	61	The rotational axis is invalid.
ExecutionAborted	VirtualDrives	11	The drives are virtual.

Enumeration name:	CalibrationAlreadyExecuting
Enumeration value:	55
Description:	Calibration is already executing.

Call calibration method was unsuccessful

Calibration is already executing.

Enumeration name:	MissingProgramCall
Enumeration value:	32
Description:	The program call is unavailable.

Issue	Cause	Solution
Call calibration method was unsuccessful	The program SR_SlowCyclicExecution is not called in a cyclic task.	Ensure that the program SR_SlowCyclicExecution is called in a cyclic task.

The calibration method was called successfully.

Issue	Cause	Solution
Call calibration method was unsuccessful.	Robot is active.	Ensure that the robot is not active while calling calibration method.

Enumeration name:	RotationalAxisInvalid
Enumeration value:	61
Description:	The rotational axis is invalid.

Issue	Cause	Solution
Call calibration method was unsuccessful.	Rotational axis is invalid.	Ensure that a rotational axis has been configured.

Issue	Cause	Solution
Call calibration method was unsuccessful.	Calibration method can not be executed with virtual drives.	Ensure that the robot is configured with physical drives.