FB_CollisionHandlerDelta2Ax – SetParameters (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Sets kinematic and geometric parameters.

Description

This method provides a set of parameters that describe a Delta2Ax robot from both a kinematic and geometric point of view.

NOTE: Calling this method causes a reset of the collision entity managed by the function block that is then reconfigured based on the input parameters.

Interface

The function block implements the interface IF_CollisionHandlerDelta2Ax.

Access: PUBLIC

Input	Data type	Description
i_stParameters	ST_Delta2AxParameters	A kinematic and geometric description for a Delta2Ax robot.

Output	Data type	Description
q_xError	BOOL	The output is set to TRUE if an error has been detected during the execution.
q_etResult	ET_Result	POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message.
q_sResultMsg	STRING(80)	Event-triggered message that gives additional information on the diagnostic state.

Diagnostic Messages

q_xError	q_etResult	Enumeration value	Description
FALSE	OK	0	Success
TRUE	BaseRadiusInvalid	38	The provided base radius value is invalid.
TRUE	PlateRadiusInvalid	39	The provided plate radius value is invalid.
TRUE	LinkLengthInvalid	40	The provided link length value is invalid.
TRUE	HalfExtentsRange	3	The provided value for the half extents is outside the admissible range.
TRUE	LinkRadiusInvalid	44	The provided link radius value is invalid.

OK

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

BaseRadiusInvalid

Enumeration name:	BaseRadiusInvalid
Enumeration value:	38
Description:	The provided base radius value is invalid.

Issue	Cause	Solution
Could not set the parameters	The parameter i_stParameters.stKinematics.lrBaseRadius has a negative or zero value.	Make sure that i_stParameters.stKinematics. lrBaseRadius > 0.

PlateRadiusInvalid

Enumeration name:	PlateRadiusInvalid
Enumeration value:	39
Description:	The provided plate radius value is invalid.

Issue	Cause	Solution
Could not set the parameters	The parameter i_stParameters.stKinematics.lrPlateRadius has a negative value.	Make sure that i_stParameters.stKinematics.lrPlateRadius >= 0.

LinkLengthInvalid

Enumeration name:	LinkLengthInvalid
Enumeration value:	40
Description:	The provided link length value is invalid.

Issue	Cause	Solution
Could not set the parameters	At least one of the following conditions has been verified: stKinematics.alrUpperLinkLength[...] ≤ 0 stKinematics.alrLowerLinkLength[...] ≤ 0 stGeometry.alrUpperLinkLength[...] < 0 stGeometry.alrLowerLinkLength[...] < 0	Make sure that all the following conditions are satisfied: stKinematics.alrUpperLinkLength[...] > 0 stKinematics.alrLowerLinkLength[...] > 0 stGeometry.alrUpperLinkLength[...] ≥ 0 stGeometry.alrLowerLinkLength[...] ≥ 0
Could not set the parameters	At least one of the following conditions has been verified: stGeometry.alrUpperLinkLength[...] < 0 stGeometry.alrLowerLinkLength[...] < 0	Make sure that all the following conditions are satisfied: stGeometry.alrUpperLinkLength[...] ≥ 0 stGeometry.alrLowerLinkLength[...] ≥ 0

HalfExtentsRange

Enumeration name:	HalfExtentsRange
Enumeration value:	3
Description:	The provided value for the half extents is outside the admissible range.

Issue	Cause	Solution
Could not set the parameters	At least one of the following conditions has been verified: i_stParameters.stGeometry.stTCPBoxHalfExtents.lrX [...] ≤ 0.0 i_stParameters.stGeometry.stTCPBoxHalfExtents.lrY [...] ≤ 0.0 i_stParameters.stGeometry.stTCPBoxHalfExtents.lrZ [...] ≤ 0.0	Make sure that all the following conditions are satisfied: i_stParameters.stGeometry.stTCPBoxHalfExtents.lrX [...] > 0.0 i_stParameters.stGeometry.stTCPBoxHalfExtents.lrY [...] > 0.0 i_stParameters.stGeometry.stTCPBoxHalfExtents.lrZ [...] > 0.0

LinkRadiusInvalid

Enumeration name:	LinkRadiusInvalid
Enumeration value:	44
Description:	The provided link radius value is invalid.

Issue	Cause	Solution
Could not set the parameters	At least one of the following conditions has been verified: stGeometry.alrUpperLinkRadius[...] ≤ 0 stGeometry.alrLowerLinkRadius[...] ≤ 0	Make sure that all the following conditions are satisfied: stGeometry.alrUpperLinkRadius[...] > 0 stGeometry.alrLowerLinkRadius[...] > 0