|
Type: |
Method |
|
Available as of: |
V2.14.0.0 |
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Versions: |
Current version |
This chapter provides information on:
Set the configuration data for the EcoStruxure Machine Expert Twin communication of the Lexium P Robot.
By calling the method, the provided configuration data are verified, stored, and transferred into the OPC UA data structure of the Lexium P Robot.
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Input |
Data type |
Description |
|---|---|---|
|
i_stData |
DTC.ST_ConfigDataRobotPSeries |
Configuration data for EcoStruxure Machine Expert Twin.
NOTE: i_stData.sCategory, i_stData.lrTcpPlateSize, and i_stData.xRotAxRotationLeft are overwritten by the value stored inside the function block.
|
|
i_udiArrayIndex |
UDINT |
The array index number indicates the robot related OPC UA data structure, for example, DTC.GVL_OpcUaRobotics.G_stROB.astRobotPSeries[i_udiArrayIndex]. |
|
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 |
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|
q_sMsg |
STRING[80] |
Event-triggered message that gives additional information on the diagnostic state. |
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q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
OK |
0 |
Successful |
|
InputParameterInvalid |
DigitalTwinNameInvalid |
124 |
The name is invalid. |
|
InputParameterInvalid |
DigitalTwinColorInvalid |
125 |
The color is invalid. |
|
InputParameterInvalid |
DigitalTwinUnivocalIdInvalid |
126 |
The UnivocalID is invalid. |
|
InputParameterInvalid |
DigitalTwinArrayIndexInvalid |
127 |
The array index is invalid. |
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Enumeration name: |
DigitalTwinNameInvalid |
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Enumeration value: |
124 |
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Description: |
The name is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Setting the configuration parameter was unsuccessful. |
The configuration parameter i_stData.sName is invalid. |
Verify that the configuration parameter i_stData.sName is not empty. |
|
Enumeration name: |
DigitalTwinColorInvalid |
|
Enumeration value: |
125 |
|
Description: |
The color is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Setting the configuration parameter was unsuccessful. |
The configuration parameter i_stData.udiColor is invalid. |
Verify that the configuration parameter i_stData.udiColor is in the valid range of DTC.ET_EmulationColors. |
|
Enumeration name: |
DigitalTwinUnivocalIdInvalid |
|
Enumeration value: |
126 |
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Description: |
The UnivocalID is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Setting the configuration parameter was unsuccessful. |
The configuration parameter i_stData.udiUnivocalId is invalid. |
Verify that the configuration parameter i_stData.udiUnivocalId is not 0. |
|
Enumeration name: |
DigitalTwinArrayIndexInvalid |
|
Enumeration value: |
128 |
|
Description: |
The array index is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Setting the configuration parameter was unsuccessful. |
The configuration parameter i_udiArrayIndex is invalid. |
Verify that the configuration parameter i_udiArrayIndex is not 0 and i_udiArrayIndex ≤ DTC.GCL.Gc_udiMaxNumberOfRobotPSeries. |