With the method GetLinearTrackingSystem(...), the data of a configured linear tracking system of the robot can be read.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etName |
Name of the linear tracking system from which the configured parameters have to be read. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General, library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
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_ifVelocitySource |
Configured velocity source of the linear tracking system. |
|
|
q_lencEncoder |
SystemConfiguration.L_ENC |
Configured logical encoder which is linked to the velocity source. |
|
q_stOffset |
Configured shift of the origin of the linear tracking system in relation to the robot coordinate system ET_CoordinateSystem.CSR. Unit: [mm] |
|
|
q_etOrientationConvention |
Configured convention of the rotation angles of the orientation q_stOrientation. |
|
|
q_stOrientation |
Configured rotation of the linear tracking system in relation to the robot coordinate system ET_CoordinateSystem.CSR. Unit: [°] |
|
|
q_xInvertDirectionX |
BOOL |
Invert the positive X direction of the linear tracking system. |
|
q_xInvertDirectionY |
BOOL |
Invert the positive Y direction of the linear tracking system. |
|
q_xInvertDirectionZ |
BOOL |
Invert the positive Z direction of the linear tracking system. |
|
q_stDirectionEx |
Direction vector of the positive cartesian X axis of the linear tracking system in robot coordinate system ET_CoordinateSystem.CSR. |
|
|
q_stDirectionEy |
Direction vector of the positive cartesian Y axis of the linear tracking system in robot coordinate system ET_CoordinateSystem.CSR. |
|
|
q_stDirectionEz |
Direction vector of the positive cartesian Z axis of the linear tracking system in robot coordinate system ET_CoordinateSystem.CSR. |
|
|
q_etTrackingDirection |
Positive Cartesian axis of the tracking coordinate system which is used for tracking. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Ok |
|
ExecutionAborted |
ExternalPositionSourceConfigured |
205 |
The external position source is configured. |
|
InputParameterInvalid |
CoordinateSystemInvalid |
117 |
The coordinate system is invalid. |
|
InputParameterInvalid |
CoordinateSystemNotConfigured |
172 |
The coordinate system is not configured. |
|
Enumeration name: |
CoordinateSystemInvalid |
|
Enumeration value: |
117 |
|
Description: |
The coordinate system is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading a configured linear tracking system of the robot was unsuccessful. |
The value transferred at the input i_etName is invalid. |
At the input i_etName, a value of ET_CoordinateSystem must be transferred. |
|
Enumeration name: |
CoordinateSystemNotConfigured |
|
Enumeration value: |
172 |
|
Description: |
The coordinate system is not configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading a configured linear tracking system of the robot was unsuccessful. |
The requested linear tracking system at the input i_etName is not configured. |
If required, configure a linear tracking system with the configuration method IF_RobotConfiguration.AddLinearTrackingSystem first. |
|
Enumeration name: |
ExternalPositionSourceConfigured |
|
Enumeration value: |
205 |
|
Description: |
The external position source is configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading a configured linear tracking system of the robot was unsuccessful. |
An external position source for the robot components cartesian, orientation and auxiliary axes is configured. |
Reading the parameters of a linear tracking system of the robot is not possible when an external position source for the robot components is configured. Do not read the parameters. |