IF_RobotConfigurationAdvanced - SetTrackingParameters (Method)

Overview

Type:	Method
Available as of:	V2.14.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Setting a set of parameters for a specific tracking system.

Description

With the method SetTrackingParameters(…), a set of parameters can be applied to a specific tracking system.

Also refer to Minimizing the Influence of a Tracking System on the Trajectory of a Robot.

Interface

Input	Data type	Description
i_etTrackingSystem	ET_CoordinateSystem	Tracking system for which the parameters should be set. Valid value: Identifier of a configured tracking system.
i_stParameters	ST_TrackingParameters	Parameters that should be applied to the tracking system transferred at input i_etTrackingSystem.

Input

Data type

Description

i_etTrackingSystem

ET_CoordinateSystem

Tracking system for which the parameters should be set.

Valid value: Identifier of a configured tracking system.

i_stParameters

ST_TrackingParameters

Parameters that should be applied to the tracking system transferred at input i_etTrackingSystem.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal 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 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 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 additional information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	CoordinateSystemInvalid	117	The coordinate system is invalid.
InputParameterInvalid	CoordinateSystemNotConfigured	172	The coordinate system is not configured.
InputParameterInvalid	AccelerationZeroThresholdRange	211	The value of lrAccelerationZeroThreshold is out of range.
UnexpectedProgramBehavior	UnexpectedFeedback	13	A feedback value was invalid.

AccelerationZeroThresholdRange

Enumeration name:	AccelerationZeroThresholdRange
Enumeration value:	211
Description:	The value of lrAccelerationZeroThreshold is out of range.

Issue	Cause	Solution
Setting the tracking parameters was not successful.	The value transferred at the input i_stParameters. lrAccelerationZeroThreshold lies outside the valid range.	At the input i_stParameters. lrAccelerationZeroThreshold, a value greater or equal to 0.0 or equal to -1.0 must be transferred.

CoordinateSystemInvalid

Enumeration name:	CoordinateSystemInvalid
Enumeration value:	117
Description:	The coordinate system is invalid.

Issue	Cause	Solution
Setting the tracking parameters was unsuccessful.	The value transferred at the input i_etTrackingSystem does not represent a tracking system.	Verify that at the input i_etTrackingSystem a configured tracking system is transferred, and correct if necessary.

CoordinateSystemNotConfigured

Enumeration name:	CoordinateSystemNotConfigured
Enumeration value:	172
Description:	The coordinate system is not configured.

Issue	Cause	Solution
Setting the tracking parameters was unsuccessful.	The value transferred at the input i_etTrackingSystem does not represent a configured tracking system.	Verify that at the input i_etTrackingSystem a configured tracking system is transferred, and correct if necessary.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Setting the tracking parameters was successful.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	13
Description:	A feedback value was invalid.

Setting the tracking parameters was unsuccessful. A feedback value was invalid.