IF_ConfigurationAdvanced - GetCoordinateSystem (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Reading a configured robot coordinate system.

Description

With the method GetCoordinateSystem(…), the parameters of a configured robot coordinate system can be read.

Interface

Input	Data type	Description
i_etName	ROB.ET_CoordinateSystem	Name of the coordinate system from which the configured parameters have to be read.

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 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_stOffset	PDL.ST_Vector3D	Configured shift of the coordinate system in relation to the world coordinate system. Unit: [Units]
q_etOrientationConvention	ROB.ET_OrientationConvention	Configured convention of the rotation angles of the orientation q_stOrientation.
q_stOrientation	PDL.ST_Vector3D	Configured rotation of the coordinate system in relation to the world coordinate system. Unit: [°]
q_xInvertDirectionX	BOOL	Invert the positive X direction of the coordinate system.
q_xInvertDirectionY	BOOL	Invert the positive Y direction of the coordinate system.
q_xInvertDirectionZ	BOOL	Invert the positive Z direction of the coordinate system.
q_stDirectionEx	PDL.ST_Vector3D	Direction vector of the positive cartesian X axis of the coordinate system.
q_stDirectionEy	PDL.ST_Vector3D	Direction vector of the positive cartesian Y axis of the coordinate system.
q_stDirectionEz	PDL.ST_Vector3D	Direction vector of the positive cartesian Z axis of the coordinate system.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ExternalPositionSourceConfigured	357	The external position source is configured.
InputParameterInvalid	CoordinateSystemInvalid	93	The coordinate system is invalid.

CoordinateSystemInvalid

Enumeration name:	CoordinateSystemInvalid
Enumeration value:	93
Description:	The coordinate system is invalid.

Issue	Cause	Solution
Reading the parameters of a coordinate system of the robot was unsuccessful.	The value transferred at the input i_etName is invalid.	At the input i_etName, a value of ROB.ET_CoordinateSystem must be transferred.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	357
Description:	The external position source is configured.

Issue	Cause	Solution
Reading parameters of a coordinate system of the robot was unsuccessful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Reading parameters of a tracking coordinate system of the robot is not possible when an external position source for the robot components is configured. Do not read parameters of a tracking coordinate system.

Issue

Cause

Solution

Reading parameters of a coordinate system of the robot was unsuccessful.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

Reading parameters of a tracking coordinate system of the robot is not possible when an external position source for the robot components is configured.

Do not read parameters of a tracking coordinate system.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Reading the parameters of a coordinate system of the robot was successful.