IF_TargetsHandler - GetConfiguration (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Retrieves the configuration parameters for the targets handler.

Description

The GetConfiguration method retrieves the configuration parameters for the targets handler.

Interface

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_etTrackingSystemId	ROB.ET_CoordinateSystem	Identifier of the tracking system linked to the targets handler. Refer to Robotic Library - ET_CoordinateSystem.
q_ifVelocitySource	SystemConfigurationItf.IF_IdentificationMandatory	Velocity source of the system to which the function block is linked.
q_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.
q_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.
q_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.
q_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.
q_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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
Ok	Ok	0	Ok
ExecutionAborted	NotConfigured	101	The function block is not configured yet.

NotConfigured

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

Issue	Cause	Solution
The configuration parameters 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.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Status Message: The configuration parameters have been successfully returned.