CreateTargetOnEntity (Method)

Overview

Type:	Method
Available as of:	V1.1.0.0

Task

Creating a target on an entity.

Description

The method CreateTargetOnEntity creates a target on the specified entity.

Ensure that the following prerequisites are fulfilled:

The inputs i_udiTargetId and i_udiEntityId are valid.
If i_udiEntityId refers to a conveyor, then also provide a valid reference position i_lrReferencePosition.
The cartesian pose (position and orientation) corresponds to the orientation convention ZYX. If the orientation convention is different, the event is not set.
The entity ID is set to 1 if a target is to be attached to a global pose. For this, you can use the enumeration element Global in the enumeration ET_SystemEntity in the SchneiderElectricRobotics Toolbox library.

The event is written to the internal events buffer and to the OPC UA structure by the method Update.

Interface

Input	Data type	Description
i_udiTargetId	UDINT	ID of the target to be created on the entity. The ID must be unique.
i_udiEntityId	UDINT	ID of the entity on which the target is to be created.
i_lrReferencePosition	LREAL	The reference position on the entity where the target is to be created. NOTE: This input is only needed when i_udiParentId is a conveyor.
i_stCartesianPose	GEM.ST_CartesianPose	The cartesian pose of the target.
i_etColorId	ET_EmulationColors	The color configured for the target.

Output	Data type	Description
q_xError	BOOL	Indicates TRUE if an error has been detected. For details, refer to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information as a numeric value. If q_xError = FALSE, q_etResult provides status information. If q_xError = TRUE, q_etResult provides diagnostic/error information.
q_sResultMsg	STRING [80]	Provides additional diagnostic and status information as a text message.

Diagnostic Messages

q_xError	q_etResult	Description
FALSE	Ok	The event was set.
TRUE	TargetIdInvalid	The event was not set. Cause: The input value of i_udiTargetId is invalid. Solution: Provide a valid target ID. The value must be greater than 0. Configure the target ID with the variable udiUnivocalId.
TRUE	TargetTypeInvalid	The event was not set. Cause: The input value of i_udiTargetType is invalid. Solution: Provide a valid target type. Configure the target type in the OPC UA structure with the variable GVL_OpcUaTargetTypes.G_stTargetTypes.
TRUE	EntityIdInvalid	The event was not set. Cause: The input value of i_udiEntityId is invalid. Solution: Provide a valid entity ID. The value must be greater than 0. Configure the target ID with the variable udiUnivocalId.
TRUE	OrientationConventionInvalid	The event was not set. Cause: The input value of i_stCartesianPose.etOrientationConvention is invalid. Solution: Provide a valid value. Ensure that the orientation convention is ZYX, which corresponds to a right-hand coordinate system. For more information, refer to GEM.ET_OrientationConventionGEM.ET_OrientationConvention.
TRUE	ColorIdInvalid	The event was not set. Cause: The input value of i_etColorId is invalid. Solution: Provide a valid value. Select a value defined in ET_EmulationColors.
FALSE	BufferFull	The event was set. Cause: The internal events buffer is full and starts to overwrite prior events. Solution: Enlarge the internal events buffer by using the global parameter Gc_udiInternalEventsBufferSize and/or enlarge the event OPC UA structure by using the global parameter Gc_udiMaxNumberOfEventData.
FALSE	ReferencePositionIgnored	The event was set. Cause: The reference position lrReferencePosition was ignored because the entity is not a conveyor. Solution: Set the value of lrReferencePosition to 0.