The method must be called once to create and configure the tracking coordinate system. To modify the coordinate system at runtime, the method IF_TrackingSource.ModifyCoordinateSystem() can be used.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etSystemId |
ET_CoordinateSystem |
ID of the tracking system. The ID of the tracking system added to the robot must be unique. Valid values are: ET_CoordinateSystem.Tracking1…ET_CoordinateSystem.Tracking30 |
|
i_stOffset |
Shifting of the origin of the tracking system in relation to the robot coordinate system ET_CoordinateSystem.CSR. Unit: [mm] |
|
|
i_etOrientationConvention |
Convention for the rotation angles of the orientation i_stOrientation. Valid values are:
|
|
|
i_stOrientation |
Rotation of the tracking system in relation to the robot coordinate system ET_CoordinateSystem.CSR. Unit: [°] |
|
|
i_xInvertDirectionX |
BOOL |
Inverts the positive X direction of the tracking system. |
|
i_xInvertDirectionY |
BOOL |
Inverts the positive Y direction of the tracking system. |
|
i_xInvertDirectionZ |
BOOL |
Inverts the positive Z direction of the tracking system. |
|
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 on 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_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
OK |
0 |
Ok |
|
ExecutionAborted |
CoordinateSystemAlreadyConfigured |
252 |
The coordinate system is already configured. |
|
InputParameterInvalid |
SystemIdInvalid |
196 |
The system ID is invalid. |
|
InputParameterInvalid |
OrientationConventionInvalid |
168 |
The orientation convention is invalid. |
|
Enumeration name: |
CoordinateSystemAlreadyConfigured |
|
Enumeration value: |
252 |
|
Description: |
The coordinate system is already configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the tracking system was not successful. |
The configuration of the tracking system is already completed successfully. The method SetCoordinateSystem was already called successfully. |
Make sure that the configuration of the tracking source is called only once. To modify the coordinate system during a runtime, use the method IF_TrackingSource.ModifyCoordinateSystem. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
The configuration of the tracking coordinate system was successful.
|
Enumeration name: |
OrientationConventionInvalid |
|
Enumeration value: |
168 |
|
Description: |
The orientation convention is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the tracking system was not successful. |
The value transferred at the input i_etOrientationConvention is invalid. |
At the input i_etOrientationConvention, a value of ET_OrientationConvention must be transferred. Valid values are:
|
|
Enumeration name: |
SystemIdInvalid |
|
Enumeration value: |
196 |
|
Description: |
The system ID is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The configuration of the tracking system was not successful. |
The system ID transferred at the input i_etSystemId is invalid. |
Ensure that the value of i_etSystemId is one of the following: ET_CoordinateSystem.Tracking1…ET_CoordinateSystem.Tracking30 |