FB_RobotPSeries - CheckPositionInWorkEnvelope (Method)

Overview

Type:	Method
Available as of:	V2.12.1.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Return Value
Diagnostic Messages

Task

Verify whether a given coordinate is inside the robot work envelope.

Description

The method can be used to verify whether a certain coordinate is within the work envelope of the robot.

Interface

Input	Data type	Description
i_stCoordinate	SE_Math.ST_Vector3D	Coordinate to be verified.
i_etCoordinateSystem	ROB.ET_RobotCoordinateSystem	Coordinatesystem the coordinate i_stCoordinate refers to. Valid values: ROB.ET_RobotCoordinateSystem.CSR ROB.ET_RobotCoordinateSystem.Mechanic ROB.ET_RobotCoordinateSystem.Tracking1..30

Input

Data type

Description

i_stCoordinate

SE_Math.ST_Vector3D

Coordinate to be verified.

i_etCoordinateSystem

ROB.ET_RobotCoordinateSystem

Coordinatesystem the coordinate i_stCoordinate refers to.

Valid values:

ROB.ET_RobotCoordinateSystem.CSR
ROB.ET_RobotCoordinateSystem.Mechanic
ROB.ET_RobotCoordinateSystem.Tracking1..30

Output	Data type	Description
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	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.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General, library-independent statement on the diagnostic.

A value not equal to ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

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.

Return Value

Data type:

Description

BOOL

TRUE: the coordinate is within the robot work envelope.

FALSE: the coordinate is outside the robot work envelope.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Successful
InputParameterInvalid	CoordinateSystemInvalid	119	The coordinate system is invalid.
InputParameterInvalid	CoordinateSystemNotConfigured	120	The coordinate system is not configured.
ExecutionAborted	RobotNotInitialized	89	The robot is not initialized.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Successful

Method was called successfully.

CoordinateSystemInvalid

Enumeration name:	CoordinateSystemInvalid
Enumeration value:	119
Description:	The coordinate system is invalid.

Issue	Cause	Solution
Verifying the coordinate was not successful.	The value ET_CoordinateSystem.None transferred on the input i_etCoordinateSystem is invalid.	Do not use ET_CoordinateSystem.None on the input i_etCoordinateSystem.
An invalid value was transferred on the input i_etCoordinateSystem.	Make sure that only valid values are used. Valid values: ROB.ET_RobotCoordinateSystem.CSR ROB.ET_RobotCoordinateSystem.Mechanic

Issue

Cause

Solution

Verifying the coordinate was not successful.

The value ET_CoordinateSystem.None transferred on the input i_etCoordinateSystem is invalid.

Do not use ET_CoordinateSystem.None on the input i_etCoordinateSystem.

An invalid value was transferred on the input i_etCoordinateSystem.

Make sure that only valid values are used.

Valid values:

ROB.ET_RobotCoordinateSystem.CSR
ROB.ET_RobotCoordinateSystem.Mechanic

CoordinateSystemNotConfigured

Enumeration name:	CoordinateSystemNotConfigured
Enumeration value:	120
Description:	The coordinate system is not configured.

Issue	Cause	Solution
Verifying the coordinate was not successful.	The coordinate system transferred on the input i_etCoordinateSystem is not configured on this robot.	Make sure that the coordinate system is configured successfully on the robot.

RobotNotInitialized

Enumeration name:	RobotNotInitialized
Enumeration value:	89
Description:	The robot is not initialized.

Issue	Cause	Solution
Verifying the coordinate was not successful.	The robot is not initialized.	Ensure that the robot has been initialized successfully.