FB_CollisionHandlerDelta3Ax – UpdateFromKinematicsResult (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Update the position and orientation of the default collision objects of the collision handler.

Description

Update the position and orientation of each default collision object based on the kinematic result provided as input. The default collision objects are those that are automatically created and configured by the collision handler.

As value for the input i_stKinematicsResult, it is possible to provide q_stResultLocal resulting from a successful call of EvaluateDirectKinematics or EvaluateInverseKinematics.

NOTE: This method does not affect the position and orientation of the collision objects inside the collision groups that have been added by you. When calling this method, the collision objects that are part of the groups must have xConfigured = TRUE, so that the groups can be successfully updated.

Interface

The function block implements the interface IF_CollisionHandlerDelta3Ax.

Access: PUBLIC

Input	Data type	Description
i_stKinematicsResult	ST_Delta3AxKinematicsResult	Structure containing the result of the kinematics for a Delta3Ax robot with reference to the coordinate system of the 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	NotConfigured	26	The object is not configured.
TRUE	KinematicResultInvalid	46	The provided kinematic result is invalid.
TRUE	CollisionGroupUpdateNotPossible	37	It is not possible to update a collision group.
TRUE	CollisionEntityUpdateNotPossible	51	It is not possible to update a collision entity.

OK

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

NotConfigured

Enumeration name:	NotConfigured
Enumeration value:	26
Description:	The object is not configured.

Issue	Cause	Solution
Could not execute an update.	The collision handler has not been configured, meaning that xConfigured = FALSE.	Make a successful call of SetParameters before calling this method.

KinematicResultInvalid

Enumeration name:	KinematicResultInvalid
Enumeration value:	46
Description:	The provided kinematic result is invalid.

Issue	Cause	Solution
Could not execute an update.	i_stKinematicsResult contains an invalid result, meaning that i_stKinematicsResult.xIsResultValid = FALSE.	Make sure that i_stKinematicsResult.xIsResultValid = TRUE.

CollisionGroupUpdateNotPossible

Enumeration name:	CollisionGroupUpdateNotPossible
Enumeration value:	37
Description:	It is not possible to update a collision group.

Issue	Cause	Solution
Could not update the collision handler.	At least one of the configured interfaces in the property raifCollisionObjects (inside one of the groups of the collision entity ifCollisionEntity) has been set to zero.	To fix this error it is required to make a successful call of the SetParameters method.

CollisionEntityUpdateNotPossible

Enumeration name:	CollisionEntityUpdateNotPossible
Enumeration value:	51
Description:	It is not possible to update a collision entity.

Issue	Cause	Solution
Could not update the collision handler.	At least one of the configured interfaces in the property raifCollisionGroups (inside the collision entity ifCollisionEntity) has been set to zero.	To fix this error it is required to make a successful call of the SetParameters method.