IF_TargetsHandler - EvaluateSlotTarget (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

oTask

Task

Evaluates an updated robot target generated from a specific target slot.

Description

The method EvaluateSlotTarget evaluates an updated robot target generated from a specific target slot. The Cartesian pose of the slot is evaluated as the pose of the container target plus the relative pose configured for such slot.

Interface

Input	Data type	Description
i_udiListIndex	UDINT	The index of a robot target in the list.
i_uiSlotIndex	UINT	The index of a slot inside the robot target.

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.
q_stContainerTarget	ST_RobotTarget	Robot target data structure with the information on the container target.
q_stSlotAttributes	ST_RobotTargetSlotAttributes	Slot attributes related to the requested slot.

Return Value

Data type	Description
ST_RobotTarget	Robot target data related to a slot inside a container target.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
Ok	Ok	0	Ok
ExecutionAborted	NotConfigured	101	The function block is not configured yet.
ExecutionAborted	NumberOfSlotsInvalid	117	The configured number of slots is invalid for a called method.
InputParameterInvalid	ListIndexInvalid	112	The provided list index is not referring to a valid target in the list.
InputParameterInvalid	SlotIndexRange	113	The provided slot index is out of range.

NotConfigured

Enumeration name:	NotConfigured
Enumeration value:	101
Description:	The function block is not configured yet.

Issue	Cause	Solution
The attributes of the required slot have not been returned.	The Configuration method has not been called yet.	Ensure that the Configuration method has been successfully called before calling this method.

NumberOfSlotsInvalid

Enumeration name:	NumberOfSlotsInvalid
Enumeration value:	117
Description:	The configured number of slots is invalid for a called method.

Issue	Cause	Solution
The attributes of the required slot have not been returned.	It is not possible to return the attributes for a slot if the number of configured slots is zero.	oEnsure that the number of configured slots is greater than zero before calling this method. oCall the method ConfigureSlotList to set the number of configured slots.

Issue

Cause

Solution

The attributes of the required slot have not been returned.

It is not possible to return the attributes for a slot if the number of configured slots is zero.

oEnsure that the number of configured slots is greater than zero before calling this method.

oCall the method ConfigureSlotList to set the number of configured slots.

ListIndexInvalid

Enumeration name:	ListIndexInvalid
Enumeration value:	112
Description:	The provided list index is not referring to a valid target in the list.

Issue	Cause	Solution
The attributes of the required slot have not been returned.	The targets handler does not contain a target with the provided index.	Ensure that i_udiListIndex contains a valid list index.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Status Message: The slot target has been successfully returned.

SlotIndexRange

Enumeration name:	SlotIndexRange
Enumeration value:	113
Description:	The provided slot index is out of range.

Issue	Cause	Solution
The attributes of the required slot have not been returned.	The list of slots does not contain a slot with the provided index.	Ensure that a slot with index i_udiSlotIndex is contained in the list.