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Type: |
Method |
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Available as of: |
V2.12.1.0 |
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Versions: |
Current version |
This chapter provides information on:
This method is used to automatically configure the collision handler of a P-Series robot starting from an initialized implementation of IF_RobotPSeries.
The collision objects within the collision handler are parameterized to fit the modelled mechanical parts. You can set the optional parameter lrCollisionMargin to increase the size of the collision objects before calling this method. For more information, refer to the method SetOptionalParameters.
This method can be called multiple times to reconfigure the collision handler.
On a call of this method, the value of the optional parameters is also taken into account if provided.
Access: PUBLIC
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Input |
Data type |
Description |
|---|---|---|
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i_ifRobotPSeries |
IF_RobotPSeries |
An initialized implementation of IF_RobotPSeries. If the implementation referred by i_ifRobotPSeries is not successfully configured, the method call returns an error. |
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Output |
Data type |
Description |
|---|---|---|
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q_xError |
BOOL |
The output is set to TRUE if an error has been detected during the execution. |
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q_etResult |
ET_Result |
POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message. |
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q_sResultMsg |
STRING[80] |
Event-triggered message that gives additional information on the diagnostic state. |