FB_CollisionHandlerDelta2Ax – UpdateFromJointPositions (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic messages

Task

Update the position and orientation of the default collision objects of the collision handler.

Description

Update the position and orientation of each default collision object based on the joint positions provided as input. The default collision objects are those that are automatically created and configured inside the collision entity of the collision handler.

NOTE: This method does not affect the position and orientation of the collision objects inside the collision groups that have been added by you. When calling this method, the collision objects that are part of the groups must have xConfigured = TRUE, so that the groups can be successfully updated.

The following graphic shows the elements of i_alrJointPositions:

Interface

The function block implements the interface IF_CollisionHandlerDelta2Ax.

Access: PUBLIC

Input	Data type	Description
i_alrJointPositions	ARRAY [1...Gc_udiDelta2AxNumberOfJoints] OF LREAL	Joint positions of a Delta2Ax robot.

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	NotConfigured	26	The object is not configured.
TRUE	CollisionGroupUpdateNotPossible	37	It is not possible to update a collision group.
TRUE	CollisionEntityUpdateNotPossible	51	It is not possible to update a collision entity.
TRUE	KinematicResultInvalid	46	The provided kinematic result is invalid.

OK

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

NotConfigured

Enumeration name:	NotConfigured
Enumeration value:	26
Description:	The object is not configured.

Issue	Cause	Solution
Could not update the collision handler.	The collision handler has not been configured yet, meaning that xConfigured = FALSE	Make a successful call of SetParameters before calling this method, so that xConfigured = TRUE.

CollisionGroupUpdateNotPossible

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

Issue	Cause	Solution
Could not update the collision handler.	At least one of the configured interfaces in the property raifCollisionObjects (inside one of the groups of the collision entity ifCollisionEntity) has been set to zero.	To fix this error it is required to make a successful call of the SetParameters method.

CollisionEntityUpdateNotPossible

Enumeration name:	CollisionEntityUpdateNotPossible
Enumeration value:	51
Description:	It is not possible to update a collision entity.

Issue	Cause	Solution
Could not update the collision handler.	At least one of the configured interfaces in the property raifCollisionGroups (inside the collision entity ifCollisionEntity) has been set to zero.	To fix this error it is required to make a successful call of the SetParameters method.

KinematicResultInvalid

Enumeration name:	KinematicResultInvalid
Enumeration value:	46
Description:	The provided kinematic result is invalid.

Issue	Cause	Solution
Could not update the collision handler.	i_alrJointPositions contains an invalid set of joint positions.	Make sure to provide a valid set of joint positions.