IF_RobotConfiguration - AddLinearTrackingSystem (Method)

Overview

Type:	Method
Available as of:	V1.6.0.0

This chapter provides information on:

Task
Description
Interface
Return Value
Diagnostic Messages

Task

Adding a linear tracking system to the robot.

NOTE:

This method is not supported by Modicon M262 Motion Controllers.

Description

With the method AddLinearTrackingSystem(...), a linear tracking system can be added to the robot.

Information about the tracking direction in relation to the velocity source:

The tracking direction is along the positive cartesian X axis of the defined coordinate system of the linear tracking system.

Information about the logical encoder linked to the velocity source:

The configuration of the logical encoder is verified during the configuration of the linear tracking system.

The parameter Enable has to be TRUE.
The logical encoder must not be linked to any other velocity source.
The parameters PhaseEnable, GearEnable, and EngageEnable have to be FALSE.

If the velocity source implements the interface SystemConfigurationItf.IF_MechanicMandatory, the following parameters Direction, GearIn, GearOut, and FeedConstant are verified. The parameterization of these parameters has to be equal to the parameterization of the velocity source.

In case the robot is moving in the linear tracking system, the logical encoder is also monitored if any manipulation of the position occurred. If a manipulation is detected, the robot stops immediately. The monitoring of the position is also active if only a change to the linear tracking system is requested by calling the method IF_RobotMotion.ChangeCoordinateSystem.

Interface

Input	Data type	Description
i_ifVelocitySource	SystemConfigurationItf.IF_IdentificationMandatory	Velocity source of the linear tracking system.
i_lencEncoder	SystemConfiguration.L_ENC	Logical encoder which is linked to the velocity source.
i_stOffset	PDL.ST_Vector3D	Describes the shifting of the origin of the linear tracking system in relation to the robot coordinate system ET_CoordinateSystem.CSR. Unit: [mm]
i_etOrientationConvention	ET_OrientationConvention	Convention for the rotation angles of the orientation i_stOrientation.
i_stOrientation	PDL.ST_Vector3D	Describes the rotation of the linear tracking system in relation to the robot coordinate system ET_CoordinateSystem.CSR. Unit: [°]
i_xInvertDirectionX	BOOL	Invert the positive X direction of the linear tracking system.
i_xInvertDirectionY	BOOL	Invert the positive Y direction of the linear tracking system.
i_xInvertDirectionZ	BOOL	Invert the positive Z direction of the linear tracking system.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output for 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_stDirectionEx	PDL.ST_Vector3D	Direction vector of the positive cartesian X axis of the linear tracking system in robot coordinate system ET_CoordinateSystem.CSR.
q_stDirectionEy	PDL.ST_Vector3D	Direction vector of the positive cartesian Y axis of the linear tracking system in robot coordinate system ET_CoordinateSystem.CSR.
q_stDirectionEz	PDL.ST_Vector3D	Direction vector of the positive cartesian Z axis of the linear tracking system in robot coordinate system ET_CoordinateSystem.CSR.

Return Value

Data type	Description
ET_CoordinateSystem	Number of the added linear tracking system.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ConfigurationAlreadyCompleted	105	The configuration is already completed.
ExecutionAborted	NoMoreTrackingSystemsAvailable	166	There are no more tracking systems available.
ExecutionAborted	TransformationMissing	113	The transformation is unavailable.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
ExecutionAborted	TrackingSourceAndTrackingSystemNotPossible	249	The combination of tracking source and tracking systems is not possible.
InputParameterInvalid	EncoderInvalid	169	The encoder is invalid.
InputParameterInvalid	InvertDirectionXInvalid	154	InvertDirectionX is invalid.
InputParameterInvalid	InvertDirectionYInvalid	155	InvertDirectionY is invalid.
InputParameterInvalid	InvertDirectionZInvalid	156	InvertDirectionZ is invalid.
InputParameterInvalid	OffsetInvalid	152	The Offset is invalid.
InputParameterInvalid	OrientationConventionInvalid	168	The orientation convention is invalid.
InputParameterInvalid	OrientationInvalid	153	The orientation is invalid.
InputParameterInvalid	VelocitySourceInvalid	167	The velocity source is invalid.
UnexpectedProgramBehavior	UnexpectedFeedback	13	A feedback value was invalid.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	105
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	The configuration of the robot has already been completed. The method ConfigDone(...) has already been called up successfully.	Ensure that the configuration method AddLinearTrackingSystem(...) is not called after the configuration has been completed.

EncoderInvalid

Enumeration name:	EncoderInvalid
Enumeration value:	169
Description:	The encoder is invalid.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	The type of the object transferred at the input i_lencEncoder is invalid.	At the input i_lencEncoder, an object of type SystemConfiguration.L_ENC_TYPE must be transferred.
-	The logical encoder transferred at the input i_lencEncoder is not enabled.	The value of the parameter Enable of the logical encoder, transferred at the input i_lencEncoder, must be TRUE.
-	The logical encoder transferred at the input i_lencEncoder is already coupled to an object.	Do not call the function SystemInterface.FC_SetMasterEncoder(...) to couple the logical encoder to another object.
-	The phase generator of the logical encoder transferred at the input i_lencEncoder is enabled.	The value of the parameter PhaseEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.
-	The gear of the logical encoder transferred at the input i_lencEncoder is enabled.	The value of the parameter GearEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.
-	The coupling of the logical encoder transferred at the input i_lencEncoder is enabled.	The value of the parameter EngageEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.
-	The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter Direction of the logical encoder, transferred at the input i_lencEncoder, does not match to the value of the parameter Direction of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.
-	The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter GearIn of the logical encoder, transferred at the input i_lencEncoder, does not match to the value of the parameter GearIn of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.
-	The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter GearOut of the logical encoder, transferred at the input i_lencEncoder, does not match to the value of the parameter GearOut of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.
-	The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter FeedConstant of the logical encoder, transferred at the input i_lencEncoder, does not match to the value of the parameter FeedConstant of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Configuring a linear tracking system is not possible when an external position source for the robot components is configured. Do not configure a linear tracking system.

Issue

Cause

Solution

The configuration of the linear tracking system was unsuccessful.

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

Configuring a linear tracking system is not possible when an external position source for the robot components is configured.

Do not configure a linear tracking system.

InvertDirectionXInvalid

Enumeration name:	InvertDirectionXInvalid
Enumeration value:	154
Description:	InvertDirectionX is invalid.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the input i_xInvertDirectionX is set to FALSE.

InvertDirectionYInvalid

Enumeration name:	InvertDirectionYInvalid
Enumeration value:	155
Description:	InvertDirectionY is invalid.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the input i_xInvertDirectionY is set to FALSE.

InvertDirectionZInvalid

Enumeration name:	InvertDirectionZInvalid
Enumeration value:	156
Description:	InvertDirectionZ is invalid.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the input i_xInvertDirectionZ is set to FALSE.

NoMoreTrackingSystemsAvailable

Enumeration name:	NoMoreTrackingSystemsAvailable
Enumeration value:	166
Description:	There are no more tracking systems available.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	No more tracking systems of the robot can be configured.	The maximum number of configurable tracking systems is Gc_udiMaxNumberOfTrackingSystems.

OffsetInvalid

Enumeration name:	OffsetInvalid
Enumeration value:	152
Description:	The Offset is invalid.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the input i_stOffset.lrZ is set to 0.
	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the input i_stOffset.lrY is set to 0.
	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the input i_stOffset.lrX is set to 0.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the linear tracking system was successful.

OrientationConventionInvalid

Enumeration name:	OrientationConventionInvalid
Enumeration value:	168
Description:	The orientation convention is invalid.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	The value transferred at the input i_etOrientationConvention is invalid.	At the input i_etOrientationConvention, a value of ET_OrientationConvention must be transferred.

OrientationInvalid

Enumeration name:	OrientationInvalid
Enumeration value:	153
Description:	The orientation is invalid.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the inputs i_stOrientation.lrX and i_stOrientation.lrY are set to 0.
	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the inputs i_stOrientation.lrX and i_stOrientation.lrZ are set to 0.
	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the inputs i_stOrientation.lrY and i_stOrientation.lrZ are set to 0.

TrackingSourceAndTrackingSystemNotPossible

Enumeration name:	TrackingSourceAndTrackingSystemNotPossible
Enumeration value:	249
Description:	The combination of tracking source and tracking systems is not possible.

Issue	Cause	Solution
The configuration of the tracking system was not successful.	The combination of tracking source and tracking systems is not possible.	Ensure that no tracking system is configured for the robot when a tracking source must be used. For linear or rotary tracking, tracking sources must be used. Always use tracking sources instead of tracking systems for new projects.

Issue

Cause

Solution

The configuration of the tracking system was not successful.

The combination of tracking source and tracking systems is not possible.

Ensure that no tracking system is configured for the robot when a tracking source must be used.

For linear or rotary tracking, tracking sources must be used.

Always use tracking sources instead of tracking systems for new projects.

TransformationMissing

Enumeration name:	TransformationMissing
Enumeration value:	113
Description:	The transformation is unavailable.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	There is no transformation of the robot configured.	Ensure that the transformation of the robot is configured before adding a linear tracking system.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	13
Description:	A feedback value was invalid.

The configuration of the linear tracking system was unsuccessful.

Adding the linear tracking system was aborted because of an invalid feedback value.

VelocitySourceInvalid

Enumeration name:	VelocitySourceInvalid
Enumeration value:	167
Description:	The velocity source is invalid.

Issue	Cause	Solution
The configuration of the linear tracking system was unsuccessful.	The velocity source transferred at the input i_ifVelocitySource is invalid.	A valid interface (SystemConfigurationItf.IF_IdentificationMandatory) of a velocity source must be transferred at the input i_ifVelocitySource. Valid objects are for example drives, virtual encoders, Incremental encoders, and so on.
The transferred object at the input i_ifVelocitySource is of type SystemConfiguration.L_ENC_TYPE.	Objects of type SystemConfiguration.L_ENC_TYPE are not valid as a velocity source.

Issue

Cause

Solution

The configuration of the linear tracking system was unsuccessful.

The velocity source transferred at the input i_ifVelocitySource is invalid.

A valid interface (SystemConfigurationItf.IF_IdentificationMandatory) of a velocity source must be transferred at the input i_ifVelocitySource.

Valid objects are for example drives, virtual encoders, Incremental encoders, and so on.

The transferred object at the input i_ifVelocitySource is of type SystemConfiguration.L_ENC_TYPE.

Objects of type SystemConfiguration.L_ENC_TYPE are not valid as a velocity source.