IF_RobotMotion - ChangeCoordinateSystem (Method)

Overview

Type:	Method
Available as of:	V1.6.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Requesting a change to a configured coordinate system, for example a linear tracking system configured by IF_RobotConfiguration.AddLinearTrackingSystem.

Description

With the method ChangeCoordinateSystem(...), a change to a configured coordinate system can be requested.

Behavior of changing the coordinate system in case of a tracking system:

oIf at the time of the change in the requested tracking system no tracking is active, the change to the requested tracking system is initiated.

oIf at the time of the change in the requested tracking system a tracking is active and the change to that tracking system is finished, the change to the requested tracking system is initiated.

oIf at the time of the change in the requested tracking system a tracking is active and the change to that tracking system is not finished, the active change is stopped first. When the stop is finished, the change to the requested tracking system is initiated.

Assuming that the velocity of a velocity source of a tracking system is constant, the change to a requested tracking system is done by keeping the limit of the maximum resulting acceleration for the tracking movement.

The maximum resulting acceleration must be set by IF_RobotMotion.SetMaxAccelerationResultant for the robot component ET_RobotComponent.Tracking.

Also refer to:

oBehavior of Method ChangeCoordinateSystem.

oTracking on Velocity Sources with Non-Constant Velocity

oInteraction of ChangeCoordinateSystem with Stop-on-path

oBehavior of FB_Robot.xStart = FALSE

oBehavior of FB_Robot.xEnable = FALSE / SyncStop

Interface

Input	Data type	Description
i_etName	ET_CoordinateSystem	Coordinate system in which the robot has to change.
i_lrStartOffset	LREAL	Position of the path motion within the following segment where the change to the coordinate system starts. Positive values of i_IrStartOffset refer to the segment start and negative values refer to the segment end. Special case: i_lrStartOffset = 0.0 -> In this case the change of the coordinate system starts at the start of the following segment. Valid values are: 0.0 <= \|i_lrStartOffset\| <= Length of the following segment If the value of i_lrStartOffset is greater than the length of the following segment, the change of the coordinate system can be moved to the segment after the following segment.

Input

Data type

Description

i_etName

ET_CoordinateSystem

Coordinate system in which the robot has to change.

i_lrStartOffset

LREAL

Position of the path motion within the following segment where the change to the coordinate system starts.

Positive values of i_IrStartOffset refer to the segment start and negative values refer to the segment end.

Special case: i_lrStartOffset = 0.0 -> In this case the change of the coordinate system starts at the start of the following segment.

Valid values are:

0.0 <= |i_lrStartOffset| <= Length of the following segment

If the value of i_lrStartOffset is greater than the length of the following segment, the change of the coordinate system can be moved to the segment after the following segment.

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 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 GD.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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	ChangeCoordinateSystemReplaced	176	The change of a coordinate system has been replaced.
OK	Ok	0	Ok
ExecutionAborted	CommandRefused	10	The command has been denied.
ExecutionAborted	MaxAccelerationResultantRange	170	The MaxAccelerationResultant is out of range.
ExecutionAborted	NoMoreTrackingEventsAvailable	171	There are no more tracking events available.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	CoordinateSystemInvalid	117	The coordinate system is invalid.
InputParameterInvalid	CoordinateSystemNotConfigured	172	The coordinate system is not configured.
UnexpectedProgramBehavior	UnexpectedFeedback	13	A feedback value was invalid.

ChangeCoordinateSystemReplaced

Enumeration name:	ChangeCoordinateSystemReplaced
Enumeration value:	176
Description:	The change of a coordinate system has been replaced.

Issue	Cause	Solution
The request to change the coordinate system was successful.	Another request to change the coordinate system was called but the first one is not executed.	No move command was sent after the first request to change the coordinate system.

CommandRefused

Enumeration name:	CommandRefused
Enumeration value:	10
Description:	The command has been denied.

Issue	Cause	Solution
The request to change the coordinate system was not successful.	A positioning command is already being processed. Two commands, for example MoveL(...), MoveC(...), MoveS(...) or MoveSync(...), are called simultaneously.	Ensure that move commands and a command to change the coordinate system are called one after another and not simultaneously.

CoordinateSystemInvalid

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

Issue	Cause	Solution
The request to change the coordinate system was not successful.	The value transferred at the input i_etName is invalid.	At the input i_etName, a value of ET_CoordinateSystem must be transferred.

CoordinateSystemNotConfigured

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

Issue	Cause	Solution
The request to change the coordinate system was not successful.	The requested coordinate system at the input i_etName is not configured.	If required, configure a linear tracking system with the configuration method IF_RobotConfiguration.AddLinearTrackingSystem first.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
The request to change the coordinate system was not successful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	A request to change the coordinate system is not possible when an external position source for the robot components is configured. Do not request a change of the coordinate system.

Issue

Cause

Solution

The request to change the coordinate system was not successful.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

A request to change the coordinate system is not possible when an external position source for the robot components is configured.

Do not request a change of the coordinate system.

MaxAccelerationResultantRange

Enumeration name:	MaxAccelerationResultantRange
Enumeration value:	170
Description:	The MaxAccelerationResultant is out of range.

Issue	Cause	Solution
The request to change the coordinate system was not successful.	The maximum resulting acceleration for changing the coordinate system is not configured.	Call the method IF_RobotMotion.SetMaxAccelerationResultant for the robot component ET_RobotComponent.Tracking first.

NoMoreTrackingEventsAvailable

Enumeration name:	NoMoreTrackingEventsAvailable
Enumeration value:	171
Description:	There are no more tracking events available.

Issue	Cause	Solution
The request to change the coordinate system was not successful.	No further coordinate system change requests can be issued. The maximum number of change requests has been reached.	Wait until requests to change the coordinate system have been executed before sending new requests.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The request to change the coordinate system was successful.

UnexpectedFeedback

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

The request to change the coordinate system was not successful.

The request to change the coordinate system was aborted because of an invalid feedback value.