IF_TargetsHandler - GetConfigurationRotative (Method)

Overview

Type:	Method
Available as of:	V1.6.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Gets the configuration parameters.

Description

The method GetConfigurationRotative retrieves the configuration parameters for the rotative targets handler.

Interface

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to 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 additional 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_etTrackingPlane	ROB.ET_WorkingPlane	Working plane representing the surface plane of the tracking system (for example, the surface of a conveyor). Valid values are: ROB.ET_WorkingPlane.XY ROB.ET_WorkingPlane.XZ ROB.ET_WorkingPlane.YZ Refer to Robotic Library - ET_WorkingPlane.
q_xClockWiseRotation	BOOL	Rotation direction TRUE: Clockwise direction FALSE: Counter-clockwise direction
q_lrMaxTrackingSystemAngle	LREAL	The maximum angle that a target can reach along the moving axis before exiting the system.
q_xAutoRemoveTargets	BOOL	TRUE: On a call of UpdateTargets, the targets with an angle greater than i_lrMaxTrackingSystemAngle are automatically removed from the list.

Diagnostic Messages

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

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

NotConfigured

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

Issue	Cause	Solution
The function block has not been configured yet.	The ConfigurationRotative method has not been called yet.	Ensure that the ConfigurationRotative method has been successfully called before calling this method.