The method is called once, by the FB_Robot, per Sercos cycle while the robot is enabled. During each cycle, an update of the position and the velocity for the configured tracking components is necessary.
The method must be implemented by the user according to the needs of the tracking. The method is called once every Sercos cycle by the FB_Robot functionality.
When the method is called, the values of the outputs q_stCartesianPosition and q_stCartesianVelocity must be updated according to the cartesian movement of the tracking target.
The outputs for components which are not configured must be zero.
For further information, refer to Implement a User Specific Tracking Source.
The outputs q_etDiag, q_etDiagExt and q_sMsg can be used to trigger an exception on the robot in case there is any exception detected by the user code implemented in this method. An exception can be triggered by setting the output q_etDiag to a value not equal to GD.ET_Diag.Ok.
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Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
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_stCartesianPosition |
Cartesian tracking position. |
|
|
q_stCartesianVelocity |
Cartesian tracking velocity. |