SR_<Robot P-Series Name> - SetControlLoopParameter (Method)

Overview

Type:	Method
Available as of:	V1.1.2.0

This chapter provides information on:

By calling the method, a parameter can be adapted to influence the control loop of the Robot P-Series axes.

Input	Data type	Description
i_etName	SER.ET_ControlLoopParameter	Type of control loop parameter.
i_etComponent	SER.ET_RobotPSeriesComponent	Component of the Robot P-Series.
i_lrValue	LREAL	Value for the control loop parameter i_etName and for the component i_etComponent.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message that gives more detailed information on the diagnostic state.

Output

Data type

Description

q_etDiag

General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = GD.ET_Diag.Ok -> Status message

q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

Event-triggered message that gives more detailed information on the diagnostic state.

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Plain text
Ok	ControlLoopParameterSet	58	The control loop parameter is set.
Ok	Ok	0	Ok
ExecutionAborted	RobotNotInitialized	89	The robot is not initialized.
InputParameterInvalid	ControlLoopParameterInvalid	59	The control loop parameter is invalid.
	ParameterOutOfRange	30	The parameter is out of range.
	RobotPSeriesComponentInvalid	28	The Robot P-Series component is invalid.

Enumeration name:	ControlLoopParameterSet
Enumeration value:	58
Plain text:	The control loop parameter is set.

Status message: Setting the control loop parameter was successful.

Method was called successfully.

Issue	Cause	Solution
Setting the control loop parameter was not successful.	The robot is not initialized.	Verify that the robot was initialized successfully.

Enumeration name:	ControlLoopParameterInvalid
Enumeration value:	59
Plain text:	The control loop parameter is invalid.

Issue	Cause	Solution
Setting the control loop parameter was not successful.	The value at the input i_etName is invalid.	Verify that at the input i_etName a valid control loop parameter was transferred, and adjust if necessary.

Issue	Cause	Solution
Setting the control loop parameter was not successful.	The value at the input i_lrValue is invalid.	At the input i_lrValue, a value within the range must be transferred. Call method GetControlLoopParameter to read the minimum and maximum values.

Enumeration name:	RobotPSeriesComponentInvalid
Enumeration value:	28
Plain text:	The Robot P-Series component is invalid.

Issue	Cause	Solution
Setting the control loop parameter was not successful.	The value at the input i_etComponent is invalid.	Verify that at the input i_etComponent a valid component was transferred, and adjust if necessary.