IF_ConfigurationAdvanced - ModifyCoordinateSystem2 (Method)

Overview

Type:	Method
Available as of:	V1.5.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Modifying a coordinate system of the robot.

Description

With the method ModifyCoordinateSystem2(…), a coordinate system of the robot can be modified.

Execution sequence of the shift and rotation of the coordinate system CS0:

In this example, the orientation convention is ROB.ET_OrientationConvention.XYZ.

1. Shifting the coordinate system CS0 with the offsets X, Y, Z. This creates the coordinate system CS1.

2. Rotation of the coordinate system CS1 around its X axis. This creates the coordinate system CS2.

3. Rotation of the coordinate system CS2 around its Y axis. This creates the coordinate system CS3.

4. Rotation of the coordinate system CS3 around its Z axis. This creates the coordinate system CS4.

The coordinate system CS4 corresponds to the shifted and rotated coordinate system.

By setting the inputs i_xInvertDirectionX, i_xInvertDirectionY or i_xInvertDirectionZ to TRUE, the positive cartesian directions of the coordinate system CS4 can be inverted.

Interface

Input	Data type	Description
i_etName	ROB.ET_CoordinateSystem	Name of the coordinate system that has to be modified. Valid values are: oROB.ET_CoordinateSystem.CSR oROB.ET_CoordinateSystem.Tracking1 oROB.ET_CoordinateSystem.Tracking2 oROB.ET_CoordinateSystem.Tracking3 oROB.ET_CoordinateSystem.Tracking4 oROB.ET_CoordinateSystem.Tracking5 oROB.ET_CoordinateSystem.Tracking6 oROB.ET_CoordinateSystem.Tracking7 oROB.ET_CoordinateSystem.Tracking8 oROB.ET_CoordinateSystem.Tracking9 oROB.ET_CoordinateSystem.Tracking10
i_stOffset	PDL.ST_Vector3D	Describes the shifting of the coordinate system in relation to the world coordinate system. Unit: [mm]
i_etOrientationConvention	ROB.ET_OrientationConvention	Convention for the rotation angles of the orientation i_stOrientation.
i_stOrientation	PDL.ST_Vector3D	Describes the rotation of the coordinate system in relation to the world coordinate system. Unit: [°]
i_xInvertDirectionX	BOOL	Invert the positive X direction of the coordinate system.
i_xInvertDirectionY	BOOL	Invert the positive Y direction of the coordinate system.
i_xInvertDirectionZ	BOOL	Invert the positive Z direction of the coordinate system.

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_stDirectionEx	PDL.ST_Vector3D	Direction vector of the positive cartesian X axis of the linear tracking system in robot coordinate system ROB.ET_CoordinateSystem.CSR.
q_stDirectionEy	PDL.ST_Vector3D	Direction vector of the positive cartesian Y axis of the linear tracking system in robot coordinate system ROB.ET_CoordinateSystem.CSR.
q_stDirectionEz	PDL.ST_Vector3D	Direction vector of the positive cartesian Z axis of the linear tracking system in robot coordinate system ROB.ET_CoordinateSystem.CSR.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	CommandsActive	269	There are active commands.
ExecutionAborted	InMotion	84	The robot is in motion.
ExecutionAborted	TrackingActive	270	Tracking is active.
ExecutionAborted	TransformationMissing	172	The transformation is unavailable.
ExecutionAborted	ExternalPositionSourceConfigured	357	The external position source is configured.
InputParameterInvalid	CoordinateSystemInvalid	93	The coordinate system is invalid.
InputParameterInvalid	CoordinateSystemNotConfigured	268	The coordinate system is not configured.
InputParameterInvalid	InvertDirectionXInvalid	255	InvertDirectionX is invalid.
InputParameterInvalid	InvertDirectionYInvalid	256	InvertDirectionY is invalid.
InputParameterInvalid	InvertDirectionZInvalid	257	InvertDirectionZ is invalid.
InputParameterInvalid	OffsetInvalid	253	The Offset is invalid.
InputParameterInvalid	OrientationConventionInvalid	266	The orientation convention is invalid.
InputParameterInvalid	OrientationInvalid	254	The orientation is invalid.
UnexpectedProgramBehavior	UnexpectedFeedback	28	A feedback value was invalid.

CommandsActive

Enumeration name:	CommandsActive
Enumeration value:	269
Description:	There are active commands.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	There are still active move commands.	Ensure that no more move commands are active.

CoordinateSystemInvalid

Enumeration name:	CoordinateSystemInvalid
Enumeration value:	93
Description:	The coordinate system is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	The value transferred at the input i_etName is invalid.	At the input i_etName, a value of ROB.ET_CoordinateSystem must be transferred.

CoordinateSystemNotConfigured

Enumeration name:	CoordinateSystemNotConfigured
Enumeration value:	268
Description:	The coordinate system is not configured.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	The requested coordinate system at the input i_etName is not configured.	If required, configure a coordinate system first. Use the configuration method IF_Configuration.AddLinearTrackingSystem to configure a linear tracking system.

Issue

Cause

Solution

The modification of a coordinate system of the robot was unsuccessful.

The requested coordinate system at the input i_etName is not configured.

If required, configure a coordinate system first.

Use the configuration method IF_Configuration.AddLinearTrackingSystem to configure a linear tracking system.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	357
Description:	The external position source is configured.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	The modification of a tracking coordinate system of the robot is not possible when an external position source for the robot components is configured. Do not modify a tracking coordinate system of the robot.

Issue

Cause

Solution

The modification of a coordinate system of the robot was unsuccessful.

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

The modification of a tracking coordinate system of the robot is not possible when an external position source for the robot components is configured.

Do not modify a tracking coordinate system of the robot.

InMotion

Enumeration name:	InMotion
Enumeration value:	84
Description:	The robot is in motion.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A motion is active in the coordinate system that has to be modified.	Do not call ModifyCoordinateSystem2(...) while the robot is in motion.

InvertDirectionXInvalid

Enumeration name:	InvertDirectionXInvalid
Enumeration value:	255
Description:	InvertDirectionX is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the input i_xInvertDirectionX is set to FALSE.

InvertDirectionYInvalid

Enumeration name:	InvertDirectionYInvalid
Enumeration value:	256
Description:	InvertDirectionY is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the input i_xInvertDirectionY is set to FALSE.

InvertDirectionZInvalid

Enumeration name:	InvertDirectionZInvalid
Enumeration value:	257
Description:	InvertDirectionZ is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the input i_xInvertDirectionZ is set to FALSE.

OffsetInvalid

Enumeration name:	OffsetInvalid
Enumeration value:	253
Description:	The Offset is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the input i_stOffset.lrZ is set to 0.
	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the input i_stOffset.lrY is set to 0.
	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the input i_stOffset.lrX is set to 0.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The modification of a coordinate system of the robot was successful.

OrientationConventionInvalid

Enumeration name:	OrientationConventionInvalid
Enumeration value:	266
Description:	The orientation convention is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	The value transferred at the input i_etOrientationConvention is invalid.	At the input i_etOrientationConvention, a value of ROB.ET_OrientationConvention must be transferred.

OrientationInvalid

Enumeration name:	OrientationInvalid
Enumeration value:	254
Description:	The orientation is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the inputs i_stOrientation.lrX and i_stOrientation.lrY are set to 0.
	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the inputs i_stOrientation.lrX and i_stOrientation.lrZ are set to 0.
	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the inputs i_stOrientation.lrY and i_stOrientation.lrZ are set to 0.

TrackingActive

Enumeration name:	TrackingActive
Enumeration value:	270
Description:	Tracking is active.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	The robot is still in tracking and not in coordinate system ROB.ET_CoordinateSystem.CSR.	Do not call ModifyCoordinateSystem2(...) while the robot is in tracking.

TransformationMissing

Enumeration name:	TransformationMissing
Enumeration value:	172
Description:	The transformation is unavailable.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	There is no transformation of the robot configured.	Ensure that the transformation of the robot is configured before modifying the coordinate system.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	28
Description:	A feedback value was invalid.

The modification of a coordinate system of the robot was unsuccessful.

The modification of the coordinate system was aborted because of an invalid feedback value.