FB_RandomPoseGenerator - Generate (Method)

Overview

Type:	Method
Available as of:	V1.1.0.0

This chapter provides information on:

Task

Generate a random Cartesian pose.

Description

At every call of the method, a random Cartesian pose is generated, in accordance with a specific set of constraints that you previously define.

Interface

Input	Data type	Description
i_etRandomPoseType	ET_RandomPoseType	Used to select which type of random pose generation is used by the function block to generate a random pose. Each element of ET_RandomPoseType is linked to a specific type of random generation that you can configure using the correspondent SetMethod.

Input

Data type

Description

i_etRandomPoseType

ET_RandomPoseType

Used to select which type of random pose generation is used by the function block to generate a random pose.

Each element of ET_RandomPoseType is linked to a specific type of random generation that you can configure using the correspondent SetMethod.

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.

Return Value

Data type	Description
ST_CartesianPose	Random Cartesian pose generated by the method with the constraints provided as input.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	Ok
ExecutionAborted	RandomPoseTypeNotConfigured	52	The selected random pose type is not configured.
InputParameterInvalid	RandomPoseTypeInvalid	51	The value of i_etRandomPoseType is invalid.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

The set of constrains is successfully configured.

RandomPoseTypeInvalid

Enumeration name:	RandomPoseTypeInvalid
Enumeration value:	51
Description:	The selected random pose type value is invalid.

Issue	Cause	Solution
The value of i_etRandomPoseType is invalid.	The provided value does not identify a known random pose type.	Verify that the value is chosen from this set: ET_RandomPoseType.Pose ET_RandomPoseType.PoseOrientationList ET_RandomPoseType.PoseInPlane ET_RandomPoseType. PoseInPlaneRotationList

Issue

Cause

Solution

The value of i_etRandomPoseType is invalid.

The provided value does not identify a known random pose type.

Verify that the value is chosen from this set:

ET_RandomPoseType.Pose
ET_RandomPoseType.PoseOrientationList
ET_RandomPoseType.PoseInPlane
ET_RandomPoseType. PoseInPlaneRotationList

RandomPoseTypeNotConfigured

Enumeration name:	RandomPoseTypeNotConfigured
Enumeration value:	52
Description:	The constraints for the selected random pose type are not configured.

Issue	Cause	Solution
The selected random pose type has not been configured.	The constrains for the selected random pose type are not configured.	Ensure to configure the required random generation mode with the proper Set method before using it with this method.