FB_CollisionGroup – Update (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Performs an update of the collision group.

Description

This method is used to update the internal representation of the group of objects. In order to successfully call this method, the objects which are part of the group must be configured (for example xConfigured = TRUE for each object).

Interface

The function block implements the interface IF_CollisionGroup.

Access: PUBLIC

Output	Data type	Description
q_xError	BOOL	The output is set to TRUE if an error has been detected during the execution.
q_etResult	ET_Result	POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message.
q_sResultMsg	STRING(80)	Event-triggered message that gives additional information on the diagnostic state.

Diagnostic Messages

q_xError	q_etResult	Enumeration value	Description
FALSE	Ok	0	Success
TRUE	CollisionGroupEmpty	22	A collision group is empty.
TRUE	CollisionObjectNotConfigured	12	The object is not configured.
TRUE	CollisionGroupUpdateNotPossible	37	It is not possible to update a collision group.

OK

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

CollisionGroupEmpty

Enumeration name:	CollisionGroupEmpty
Enumeration value:	22
Description:	A collision group is empty.

Issue	Cause	Solution
Could not perform an update	There are no collision objects in the group, meaning that udiNumberOfCollisionObjects = 0	Add at least one collision object to the group before calling the Update method.

CollisionObjectNotConfigured

Enumeration name:	CollisionObjectNotConfigured
Enumeration value:	12
Description:	The object is not configured.

Issue	Cause	Solution
Could not perform an update	At least one of the collision objects is not configured, meaning that for that collision object the property xConfigured is FALSE.	Make sure that xConfigured = TRUE for all the collision objects in the group before calling the Update method.

CollisionGroupUpdateNotPossible

Enumeration name:	CollisionGroupUpdateNotPossible
Enumeration value:	37
Description:	It is not possible to update a collision group.

Issue	Cause	Solution
Could not perform an update	At least one of the configured interfaces in the property raifCollisionObjects has been set to zero.	To resolve this error, make a successful call of the Reset method and then add again the required objects calling AddCollisionObject.