IF_TargetsHandler - SetTargetPosition (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Sets the updated pose for a target in the list.

Description

The method SetTargetPosition allows you to set the updated pose for a target in the list. It can be used to refresh the pose of a target if a sensing system provides a more recent pose information on the target.

Interface

Input	Data type	Description
i_udiListIndex	UDINT	The index of the target to be removed from the list.
i_stPose	ST_CartesianPose	The Cartesian pose of the target when it was first detected in the system (for example, the pose returned by a vision system).
i_lrEncoderPosition	LREAL	The position of the encoder linked to the targets handler when the target was first detected by the system.

Output	Data type	Description
q_etDiag	GD.ET_Diag	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.

Output

Data type

Description

q_etDiag

GD.ET_Diag

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
Ok	Ok	0	Ok
ExecutionAborted	NotConfigured	101	The function block is not configured yet.
ExecutionAborted	UpdateTargetsActive	109	An update of the target handler targets is running and some method cannot be called.
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	OrientationConventionInvalid	38	Invalid orientation convention.

NotConfigured

Enumeration name:	NotConfigured
Enumeration value:	101
Description:	The function block is not configured yet.

Issue	Cause	Solution
The pose of the target has not been successfully updated.	The Configuration method has not been called yet.	Ensure that the Configuration method has been successfully called before calling this method.

ListIndexInvalid

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 pose of the target has not been successfully updated.	The targets handler does not contain a target with the provided index.	Ensure that a target with index i_udiListIndex is contained.

ListIndexRange

Enumeration name:	ListIndexRange
Enumeration value:	111
Description:	The provided index is either zero or greater than the maximum list size.

Issue	Cause	Solution
The pose of the target has not been successfully updated.	The value of the index is out of range.	The value of the index must be within the range [1...Gc_udiMaxNumberOfTargets].

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

Status Message: The pose of the target has been successfully updated.

OrientationConventionInvalid

Enumeration name:	OrientationConventionInvalid
Enumeration value:	38
Description:	Invalid orientation convention.

Issue	Cause	Solution
The pose of the target has not been successfully updated.	The input value of i_stPose.etOrientationConvention is invalid.	Provide one of the permissible values of ROB.ET_OrientationConvention. Refer to Robotic Library - ET_OrientationConvention.

Issue

Cause

Solution

The pose of the target has not been successfully updated.

The input value of i_stPose.etOrientationConvention is invalid.

Provide one of the permissible values of ROB.ET_OrientationConvention.

Refer to Robotic Library - ET_OrientationConvention.

UpdateTargetsActive

Enumeration name:	UpdateTargetsActive
Enumeration value:	109
Description:	An update of the target handler targets is running and some method cannot be called.

Issue	Cause	Solution
The pose of the target has not been successfully updated.	It is not possible to add a new target to the targets handler while the UpdateTargets method is running.	Ensure that the UpdateTargets method is not running before calling this method.