FB_EntitiesHandler - AddRobot (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Add a new robot entity to the function block.

Description

The method AddRobot is used to add a new robot entity to the function block.

Once a robot has been stored with a specific ID, it is not possible to use such ID to store a new robot entity since every entity ID must be unique in the system.

The function block stores the value inside i_stData.stKinematicParameters but does not perform any validation of them.

Interface

Input	Data type	Description
i_stData	ST_RobotEntityData	Structure containing a description of a robot entity and the ID that is used to identify it inside 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 of q_etDiagExt	Description
Ok	Ok	0	Ok
ExecutionAborted	MaxNumberOfRobotsExceeded	135	The maximum number of configurable robots is reached.
InputParameterInvalid	OrientationConventionInvalid	38	Invalid orientation convention.
InputParameterInvalid	RobotIdDuplicated	137	A robot entity already exists with the same ID.
InputParameterInvalid	RobotIdInvalid	120	A provided robot ID has an invalid value.
InputParameterInvalid	RobotNameInvalid	138	The name assigned to a robot entity is invalid.

MaxNumberOfRobotsExceeded

Enumeration name:	MaxNumberOfRobotsExceeded
Enumeration value:	135
Description:	The maximum number of configurable robots is reached.

Issue	Cause	Solution
A robot has not been added to the list.	It is not possible to add a new robot to the function block because the maximum number of robot Gc_udiMaxNumberOfRobots has been already stored.	Ensure to add a maximum of Gc_udiMaxNumberOfRobots robots to the function block.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Status message: A robot has been added successfully to the list.

OrientationConventionInvalid

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

Issue	Cause	Solution
A robot has not been added to the list.	oi_stData.stBasePose.etOrientationConvention contains an invalid orientation convention value. oi_stData.stBasePose.stModifiedCoordinateSystem contains an invalid orientation convention value	Ensure that the orientation convention has one of the following values: oROB.ET_OrientationConvention.XYZ oROB.ET_OrientationConvention.ZYX Refer to Robotic Library - ET_OrientationConvention.

Issue

Cause

Solution

A robot has not been added to the list.

oi_stData.stBasePose.etOrientationConvention contains an invalid orientation convention value.

oi_stData.stBasePose.stModifiedCoordinateSystem contains an invalid orientation convention value

Ensure that the orientation convention has one of the following values:

oROB.ET_OrientationConvention.XYZ

oROB.ET_OrientationConvention.ZYX

Refer to Robotic Library - ET_OrientationConvention.

RobotIdDuplicated

Enumeration name:	RobotIdDuplicated
Enumeration value:	137
Description:	A robot entity already exists with the same ID.

Issue	Cause	Solution
A robot has not been added to the list.	The ID i_stData.etSystemId has already been assigned to another configured robot.	Ensure that every robot has a unique ID.

RobotIdInvalid

Enumeration name:	RobotIdInvalid
Enumeration value:	120
Description:	A provided robot ID has an invalid value.

Issue	Cause	Solution
A robot has not been added to the list.	i_stData.etSystemId does not contain a valid robot ID.	Ensure that i_stData.etSystemId contains a value in the range ET.SystemEntity.Robot1...ET_SystemEntity.Robot10.

RobotNameInvalid

Enumeration name:	RobotNameInvalid
Enumeration value:	138
Description:	The name assigned to a robot entity is invalid.

Issue	Cause	Solution
A robot has not been added to the list.	i_stData.sName contains an empty string.	Ensure that i_stData.sName does not contain an empty string.
A robot has not been added to the list.	i_stData.sName contains a string already assigned to another configured robot	Ensure that each robot has a unique name.