IF_TargetsHandler - Configuration (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Initiates the evaluation of the value that is used to handle the rollover of the assigned logical encoder.

Description

Configure the function block by linking it to a linear moving system.

On a successful call of the Configuration method, the function block evaluates the value that is used to handle the rollover of the assigned logical encoder. The value can be accessed through the lrEncoderRolloverValue property and typically depends on the maximum position that a logical encoder can handle based on its FeedConstant, GearIn, and GearOut parameters.

Interface

Input	Data type	Description
i_etTrackingSystemId	ROB.ET_CoordinateSystem	Identifier of the tracking system linked to the targets handler. Refer to Robotic Library - ET_CoordinateSystem.
i_ifVelocitySource	SystemConfigurationItf.IF_IdentificationMandatory	Velocity source of the system to which the function block is linked.
i_lencEncoder	SystemConfiguration.L_ENC	Logical encoder which is used by the function block to update the position of the targets. NOTE: Do not configure the position of a logical encoder.
i_etTrackingDirection	ROB.ET_RobotComponent	Direction of the linear tracking coordinate system which is used to update the position of the targets. Valid values are: oET_RobotComponent.CartesianX oET_RobotComponent.CartesianY oET_RobotComponent.CartesianZ Refer to Robotic Library - ET_RobotComponent.
i_etTrackingPlane	ROB.ET_WorkingPlane	Working plane representing the surface plane of the tracking system (for example, the surface of a conveyor). Valid values are: oET_WorkingPlane.XY oET_WorkingPlane.XZ oET_WorkingPlane.YZ Refer to, Robotic Library - ET_WorkingPlane.
i_lrMaxTrackingSystemPosition	LREAL	The maximum position that a target can reach along the moving axis before exiting the system. If i_xAutoRemoveTargets is set to TRUE, a target that exits the system is automatically removed from the list on the next call of the UpdateTargets method.
i_xAutoRemoveTargets	BOOL	TRUE: On a call of UpdateTargets, the targets with a position greater than i_lrMaxTrackingSystemPosition along the moving direction i_etTrackingDirection are automatically removed from the list. FALSE: i_lrMaxTrackingSystemPosition is ignored. You have to remove the targets manually to manage filling the list.
i_xDisableEncoderCheck	BOOL	TRUE: The parameters of the encoder are not verified. FALSE: The parameters of the tracking encoder are verified and compared with the velocity source parameters. If the interface SystemConfigurationItf.IF_MechanicMandatory is implemented by the velocity source, the parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are verified against the corresponding parameters of the velocity source. The parameters Enable, PhaseEnable, GearEnable, and EngageEnable are verified. A tracking system can be configured, for example, by oIF_RobotConfiguration.AddLinearTrackingSystem(…) oIF_RobotConfiguration.AddLinearTrackingSystem2(…) oIF_RobotConfiguration.AddLinearTrackingSystem3(…) Refer to, Robotic Library - IF_RobotConfiguration.
i_xSetEncoderParameters	BOOL	TRUE: If the interface SystemConfigurationItf.IF_MechanicMandatory is implemented by the velocity source, the parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are set to the parameters of the velocity source during configuration. The parameters Enable, PhaseEnable, GearEnable, and EngageEnable are set to the required values. FALSE: If the interface SystemConfigurationItf.IF_MechanicMandatory is implemented by the velocity source, the parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are verified against the corresponding parameters of the velocity source. The parameters Enable, PhaseEnable, GearEnable, and EngageEnable are verified. A tracking system can be configured, for example, by oIF_RobotConfiguration.AddLinearTrackingSystem(…) oIF_RobotConfiguration.AddLinearTrackingSystem2(…) oIF_RobotConfiguration.AddLinearTrackingSystem3(…) Refer to, Robotic Library - IF_RobotConfiguration.

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	Description
Ok	Ok	0	Ok
ConfigurationFailed	AlreadyConfigured	100	The function block is already configured.
InputParameterInvalid	EncoderInvalid	103	The logical encoder is invalid.
InputParameterInvalid	TrackingDirectionInvalid	105	The tracking direction is invalid.
InputParameterInvalid	TrackingIdInvalid	104	The tracking ID is invalid.
InputParameterInvalid	TrackingPlaneInvalid	106	The working plane is invalid.
InputParameterInvalid	VelocitySourceInvalid	102	The velocity source is invalid.

EncoderInvalid

Enumeration name:	EncoderInvalid
Enumeration value:	103
Description:	The logical Encoder is invalid.

Issue	Causes	Solutions
The targets handler has not been configured.	The type of the object transferred at the input i_lencEncoder is invalid.	At the input i_lencEncoder, an object of type SystemConfiguration.L_ENC_TYPE must be transferred.
The targets handler has not been configured.	The logical encoder transferred at the input i_lencEncoder is already linked to an object.	Do not call the function SystemInterface.FC_SetMasterEncoder(...) to link the logical encoder to another object.
The targets handler has not been configured.	The logical encoder transferred at the input i_lencEncoder is not enabled.	The value of the parameter Enable of the logical encoder, transferred at the input i_lencEncoder, must be TRUE.
The targets handler has not been configured.	The phase generator of the logical encoder transferred at the input i_lencEncoder is enabled.	The value of the parameter PhaseEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.
The targets handler has not been configured.	The gear of the logical encoder transferred at the input i_lencEncoder is enabled.	The value of the parameter GearEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.
The targets handler has not been configured.	The coupling of the logical encoder transferred at the input i_lencEncoder is enabled.	The value of the parameter EngageEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.
The targets handler has not been configured.	The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter Direction of the logical encoder, transferred at the input i_lencEncoder, does not correspond to the value of the parameter Direction of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.
The targets handler has not been configured.	The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter GearIn of the logical encoder transferred at the input i_lencEncoder does not correspond to the value of the parameter GearIn of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.
The targets handler has not been configured.	The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter GearOut of the logical encoder, transferred at the input i_lencEncoder, does not correspond to the value of the parameter GearOut of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.
The targets handler has not been configured.	The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter FeedConstant of the logical encoder, transferred at the input i_lencEncoder, does not correspond to the value of the parameter FeedConstant of the velocity source transferred at the input i_ifVelocitySource.	Ensure that both values are equal.

AlreadyConfigured

Enumeration name:	AlreadyConfigured
Enumeration value:	100
Description:	The function block is already configured.

Issue	Cause	Solution
The targets handler has not been configured.	The Configuration method has been called after a previous successful call.	Ensure that the Configuration method is not called again after the configuration has been completed.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Status Message: The targets handler has been successfully configured.

TrackingDirectionInvalid

Enumeration name:	TrackingDirectionInvalid
Enumeration value:	105
Description:	The tracking direction is invalid.

Issue	Cause	Solution
The targets handler has not been configured.	The value transferred at the input i_etTrackingDirection is invalid.	Ensure that one of the following values is assigned to i_etTrackingDirection: oET_RobotComponent.CartesianX oET_RobotComponent.CartesianY oET_RobotComponent.CartesianZ Refer to Robotic Library - ET_RobotComponent.

Issue

Cause

Solution

The targets handler has not been configured.

The value transferred at the input i_etTrackingDirection is invalid.

Ensure that one of the following values is assigned to i_etTrackingDirection:

oET_RobotComponent.CartesianX

oET_RobotComponent.CartesianY

oET_RobotComponent.CartesianZ

Refer to Robotic Library - ET_RobotComponent.

TrackingIdInvalid

Enumeration name:	TrackingIdInvalid
Enumeration value:	104
Description:	The tracking ID is invalid.

Issue	Cause	Solution
The targets handler has not been configured.	The value transferred at the input i_etTrackingSystemId is invalid.	Ensure that the value is within the range [ROB.ET_CoordinateSystem.Tracking1...ROB.ET_CoordinateSystem.Tracking30.] Refer to Robotic Library - ET_CoordinateSystem.

Issue

Cause

Solution

The targets handler has not been configured.

The value transferred at the input i_etTrackingSystemId is invalid.

Ensure that the value is within the range [ROB.ET_CoordinateSystem.Tracking1...ROB.ET_CoordinateSystem.Tracking30.]

Refer to Robotic Library - ET_CoordinateSystem.

TrackingPlaneInvalid

Enumeration name:	TrackingPlaneInvalid
Enumeration value:	106
Description:	The working plane is invalid.

Issue	Cause	Solution
The targets handler has not been configured.	The value transferred at the input i_etTrackingPlane is invalid.	oEnsure that one of the following values is assigned to i_etTrackingPlane: oET_WorkingPlane.XY oET_WorkingPlane.XZ oET_WorkingPlane.YZ Refer to, Robotic Library - ET_WorkingPlane. oEnsure that the tracking plane contains the tracking direction axis described by i_etTrackingDirection.

Issue

Cause

Solution

The targets handler has not been configured.

The value transferred at the input i_etTrackingPlane is invalid.

oEnsure that one of the following values is assigned to i_etTrackingPlane:

oET_WorkingPlane.XY

oET_WorkingPlane.XZ

oET_WorkingPlane.YZ

Refer to, Robotic Library - ET_WorkingPlane.

oEnsure that the tracking plane contains the tracking direction axis described by i_etTrackingDirection.

VelocitySourceInvalid

Enumeration name:	VelocitySourceInvalid
Enumeration value:	102
Description:	The velocity source is invalid.

Issue	Cause	Solution
The targets handler has not been configured.	The velocity source provided as the input i_ifVelocitySource is invalid.	oA valid interface (SystemConfigurationItf.IF_IdentificationMandatory) of a velocity source must be transferred at the input i_ifVelocitySource. Valid objects are, for example, drives, virtual encoders, incremental encoders. oObjects of type SystemConfiguration.L_ENC_TYPE are not valid velocity sources.

Issue

Cause

Solution

The targets handler has not been configured.

The velocity source provided as the input i_ifVelocitySource is invalid.

oA valid interface (SystemConfigurationItf.IF_IdentificationMandatory) of a velocity source must be transferred at the input i_ifVelocitySource. Valid objects are, for example, drives, virtual encoders, incremental encoders.

oObjects of type SystemConfiguration.L_ENC_TYPE are not valid velocity sources.