FB_EllipticSpline - CalcHalfSpline (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Calculating spline points for an elliptic spline.

Description

Based on the inputs i_stStart, i_stTarget and on the value of the property udiNumberOfSplinePoints, this method calculates a position table for a spline interpolation in three-dimensional space. Traveling along these positions can be realized by using the IF_RobotMotion.MoveS motion command. A position table is calculated from the start position to the target position as well as from the target position to the start position. For this purpose, one ellipse-shaped half branch is calculated: from the start position down or up to the target position.

Half spline from start position up to target position:

Half spline from start position down to target position:

Interface

Input	Data type	Description
i_stStart	PDL.ST_Vector3D	Start position in cartesian coordinates Value range: i_stStart.lrX / lrY <> i_stTarget.lrX / lrY
i_stTarget	PDL.ST_Vector3D	Target position in cartesian coordinates Value range: i_stStart.lrX / lrY <> i_stTarget.lrX / lrY

Input

Data type

Description

i_stStart

PDL.ST_Vector3D

Start position in cartesian coordinates

Value range: i_stStart.lrX / lrY <> i_stTarget.lrX / lrY

i_stTarget

PDL.ST_Vector3D

Target position in cartesian coordinates

Value range: i_stStart.lrX / lrY <> i_stTarget.lrX / lrY

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 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_stForward	ST_SplineTable	Calculated spline table from start to end position.
q_stReverse	ST_SplineTable	Calculated spline table from end to start position.
q_lrSplineLength	LREAL	Resulting length of linear connections between the spline points of the elliptic spline.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	IdenticalHeight	165	The heights are identical.
InputParameterInvalid	IdenticalPosition	163	The positions are identical.
InputParameterInvalid	NumberOfSplinePointsRange	89	The number of spline points is out of range.

IdenticalHeight

Enumeration name:	IdenticalHeight
Enumeration value:	165
Description:	The heights are identical.

Issue	Cause	Solution
Calculating the elliptic spline was unsuccessful.	The cartesian component Z of the start position (i_stStart) and of the target position (i_stTarget) is identical in a range of 0.001.	Ensure that the values are not identical to each other.

IdenticalPosition

Enumeration name:	IdenticalPosition
Enumeration value:	163
Description:	The positions are identical.

Issue	Cause	Solution
Calculating the elliptic spline was unsuccessful.	The cartesian components X and Y of the start position (i_stStart) and of the target position (i_stTarget) are identical in a range of 0.001.	Ensure that both values are not identical to each other.

NumberOfSplinePointsRange

Enumeration name:	NumberOfSplinePointsRange
Enumeration value:	89
Description:	The number of spline points is out of range.

Issue	Cause	Solution
Calculating the elliptic spline was unsuccessful.	The value transferred at the property udiNumberOfSplinePoints lies outside the valid range.	Ensure that udiNumberOfSplinePoints is greater than or equal to 3. Ensure that udiNumberOfSplinePoints is less than or equal to 98.

Issue

Cause

Solution

Calculating the elliptic spline was unsuccessful.

The value transferred at the property udiNumberOfSplinePoints lies outside the valid range.

Ensure that udiNumberOfSplinePoints is greater than or equal to 3.

Ensure that udiNumberOfSplinePoints is less than or equal to 98.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Calculating the elliptic spline was successful.