MceAlarmData

0.1.0

general

Data type for storing robot alarm information. This is a more compact version of MLxErrorDetail.

Version history

0.1.0

16 Feb 2022 deGroot

Changes

Added:

first version

Overview

name	type	comment
nAlarmNumber	`DINT`	robot alarm number
sMessage	`STRING[32]`	alarm message
sSubCode	`STRING[32]`	additional alarm info
sTimeStamp	`STRING[19]`	date of occurrence [yyyy/mm/dd HH:mm:ss]

Details

nAlarmNumber

DINT

The robot alarm number. Particularly useful for referencing the controller documentation or when contacting Yaskawa’s technical support.

Example:

4980

sMessage

STRING[32]

The alarm message. This describes what the alarm is about.

Example:

DESTINATION PULSE LIMIT

sSubCode

STRING[32]

Additional info for the alarm. This dynamic text helps to pinpoint the cause of the alarm.

Example:

[R1:MAX S] TASK#0

This tells that the pulse limit alarm applies to the S-axis in positive direction, of the first robot.

sTimeStamp

STRING[19]

Date of occurrence. This is set by the robot controller and uses its internal clock.

Example:

2022/02/16 14:58:32

Source code

Declarations

(*Compact data type for storing robot alarm information.*)
TYPE MceAlarmData : 

(*
 * -----------------------------------------------------------------------------
 * Name               : MceAlarmData
 * Version            : 0.1.0
 * Date               : 2022-02-16
 * Author             : deGroot
 * Family             : YaskawaMce
 * Organisation       : github.com/YaskawaEurope/mlx-examples
 * 
 * -----------------------------------------------------------------------------
 * Compact data type for storing robot alarm information.
 * -----------------------------------------------------------------------------
 *)

STRUCT
  nAlarmNumber : DINT; (*robot alarm number*)
  sMessage : STRING[32]; (*alarm message*)
  sSubCode : STRING[32]; (*additional alarm info*)
  sTimeStamp : STRING[19]; (*date of occurrence [yyyy/mm/dd HH:mm:ss]*)
END_STRUCT
END_TYPE