IF_TargetsHandler - General Information

Overview

Type:	Interface
Available as of:	V1.4.1.0
Inherits from:	-

This chapter provides information on:

oTask

oDescription

oMethods

oProperties

Task

Interface for handling a list of robot targets in a moving system.

Description

The IF_TargetsHandler interface provides methods and properties for handling a list of robot targets in a moving system.

Methods

Name	Description
AddTarget	Adds a target to the list handled by the function block.
AddTargetFromTarget	Adds a target to the list taking into account the information of an existing target.
AddTargetFromTargetWithSlots	Adds a new target to the list starting from the information contained in an ST_RobotTargetWithSlots structure.
AddTargetWithSlots	Adds a target to the list allowing you to assign a different target type to each slot.
Configuration	Initiates the evaluation of the value that is used to handle the rollover of the assigned logical encoder.
ConfigureSlotList	Describes how slots are geometrically displaced with reference to a common origin referred to the container target.
EvaluateSlotTarget	Evaluates an updated robot target generated from a specific target slot.
EvaluateTargetSlotIndex	Evaluates the slot index linked to a target provided as input.
GetConfiguration	Retrieves the configuration parameters for the targets handler.
GetConfiguredSlotList	Retrieves the list of configured slots.
GetNextListIndex	Returns the index of the next element in the list or zero.
GetPreviousListIndex	Returns the index of the previous element in the list or zero.
GetSlotAttributesInTarget	Retrieves the information on a slot contained inside a robot target in the list.
GetTarget	Returns the information of a robot target stored at a given index (if available).
GetTargetWithSlots	Retrieves information about a target and the slots that it contains.
RemoveAllTargets	Removes all targets from the list.
RemoveTarget	Removes one target from the list.
ResetStatistics	Resets the count of targets automatically removed from the list.
SetEncoderPositionToSourcePosition	Sets the position of the logical encoder linked to the targets handler to one of the configured sources.
SetSlotOwnerInTarget	Sets the owner of a slot inside a container target.
SetSlotProcessedInTarget	Sets the processed state of a slot inside a container target.
SetTargetOwner	Sets the owner of a target.
SetTargetPosition	Sets the updated pose for a target in the list.
SetTargetProcessed	Sets the processed state of a target.
SubscribeEventsListener	Subscribes the implementation to the targets handler.
UpdateTargets	Performs an update on the targets in the list.

Properties

Name	Data type	Accessing	Description
etTrackingSystemId	ROB.ET_CoordinateSystem	Read	The identifier of the configured tracking system for the targets handler.
lrEncoderRolloverValue	LREAL	Read	Rollover value internally used by the targets handler. The value is evaluated during the configuration based on the FeedConstant, GearIn, and GearOut parameters of the configured logical encoder. This information can be useful for visualization purposes.
udiFirstListIndex	UDINT	Read	Contains the index of the first element of the list stored inside the targets handler. This property can be used to search the list starting from the top of the list. Also refer to the description of the use case.
udiLastListIndex	UDINT	Read	Contains the index of the last element of the list stored inside the targets handler. This property can be used to search the list starting from the bottom of the list. Also refer to the description of the use case.
udiNumberOfLostTargets	UDINT	Read	Indicates the number of targets that have reached the configured position lrMaxTrackingSystemPosition without being set as processed. They are automatically removed if xAutoRemoveTargets was set to TRUE during the configuration.
udiNumberOfTargets	UDINT	Read	Contains the number of targets inside the list.
udiNumberOfSlots	UDINT	Read	Contains the number of configured slots for each multi-target in the list.
xConfigured	BOOL	Read	TRUE if the function block is properly configured.
xUpdateTargetsActive	BOOL	Read	TRUE if the UpdateTargets method is running.