The method GetSlotAttributesInTarget retrieves the information on a slot contained inside a robot target in the list. The pose of the slot is evaluated according to the present pose of the target and the relative pose of the slot set in the configuration. The resulting pose is then the pose of the slot with reference to the tracking coordinate system.
|
Input |
Data type |
Description |
|---|---|---|
|
i_udiListIndex |
UDINT |
The index of a robot target in the list. |
|
i_uiSlotIndex |
UINT |
The index of a slot inside the robot target. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
ET_DiagExt |
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 more detailed information on the diagnostic state. |
|
q_stContainerTarget |
ST_RobotTarget |
Robot target data structure with the information on the container target. Using the relative pose of a slot and the present pose of a container target, it is possible to reconstruct the pose of the single slot with reference to the tracking system configured for the function block. |
|
Data type |
Description |
|---|---|
|
ST_RobotTargetSlotAttributes |
The target slot retrieved accordingly with the indices in input. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
Ok |
Ok |
0 |
Ok |
|
ExecutionAborted |
NotConfigured |
101 |
The function block is not configured yet. |
|
ExecutionAborted |
NumberOfSlotsInvalid |
117 |
The configured number of slots is invalid for a called method. |
|
InputParameterInvalid |
ListIndexInvalid |
112 |
The provided list index is not referring to a valid target in the list. |
|
InputParameterInvalid |
ListIndexRange |
111 |
The provided index is either zero or greater than the maximum list size. |
|
InputParameterInvalid |
SlotIndexRange |
113 |
The provided slot index is out of range. |
|
Enumeration name: |
ListIndexInvalid |
|
Enumeration value: |
112 |
|
Description: |
The provided list index is not referring to a valid target in the list. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The attributes of the required slot have not been returned. |
The targets handler does not contain a target with the provided index. |
Ensure that a target with index i_udiListIndex is contained in the list. |
|
Enumeration name: |
ListIndexRange |
|
Enumeration value: |
111 |
|
Description: |
The provided index is either zero or greater than the maximum list size. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The attributes of the required slot have not been returned. |
The value of the index is out of range. |
The value of the index must be within the range [1...Gc_udiMaxNumberOfTargets]. |
|
Enumeration name: |
NotConfigured |
|
Enumeration value: |
101 |
|
Description: |
The function block is not configured yet. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The attributes of the required slot have not been returned. |
The Configuration method has not been called yet. |
Ensure that the Configuration method has been successfully called before calling this method. |
|
Enumeration name: |
NumberOfSlotsInvalid |
|
Enumeration value: |
117 |
|
Description: |
The configured number of slots is invalid for a called method. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The attributes of the required slot have not been returned. |
It is not possible to retrieve slot attributes while the number of configured slots is equal to zero. |
|
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Success |
Status Message: The attributes of the required slot have been successfully returned.
|
Enumeration name: |
SlotIndexRange |
|
Enumeration value: |
113 |
|
Description: |
The provided slot index is out of range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The attributes of the required slot have not been returned. |
The list of slots does not contain a slot with the provided index. |
Ensure that a slot with index i_udiSlotIndex is contained in the list. |