FB_TrackingSourceBase - General Information

Overview

This chapter provides information on:

Function block that must be used as base to implement a user specific tracking source.

Implements a user specific tracking source, a function block that extends the FB_TrackingSourceBase must be created.

NOTE: The methods and properties of the FB_TrackingSourceBase cannot be overwritten as the attribute FINAL is set.

The function block cannot be used directly, it must be extended by a user function block.

Name	Description
ConfigDone	Refer to IF_TrackingSource - ConfigDone (Method)
EnableComponent	Refer to IF_TrackingSource - EnableComponent(Method)
EnablePositionMonitoring	Refer to IF_TrackingSource - EnablePositionMonitoring (Method)
GetCoordinateSystem	Refer to IF_TrackingSource - GetCoordinateSystem (Method)
GetMotionParameters	Refer to IF_TrackingSource - GetMotionParameters (Method)
GetOptionalParameters	Refer to IF_TrackingSource - GetOptionalParameters (Method)
ModifyCoordinateSystem	Refer to IF_TrackingSource - ModifyCoordinateSystem (Method)
SetCoordinateSystem	Refer to IF_TrackingSource - SetCoordinateSystem (Method)
SetMotionParameters	Refer to IF_TrackingSource - SetMotionParameters (Method)
SetOptionalParameters	Refer to IF_TrackingSource - SetOptionalParameters (Method)

Name	Data type	Accessing	Description
etTrackingSystem	ET_CoordinateSystem	Read	Name of the tracking source.
ralrAuxAxPosition	REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1.. ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF LREAL	Read	AuxAx position of the tracking source.
ralrAuxAxVelocity	REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1.. ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF LREAL	Read	AuxAx velocity of the tracking source.
raxAuxAxEnabled	REFERENCE TO ARRAY [ET_RobotComponent.AuxAx1.. ET_RobotComponent.AuxAxAll + Gc_udiMaxNumberOfAuxiliaryAxes] OF BOOL	Read	TRUE: The respective component is enabled for tracking.
rstCartesianPosition	REFERENCE TO SE_Math.ST_Vector3D	Read	Cartesian position of the tracking source in the tracking coordinate system.
rstCartesianPositionCSR	REFERENCE TO SE_Math.ST_Vector3D	Read	Cartesian position of the tracking source in the robot coordinate system.
rstCartesianVelocity	REFERENCE TO SE_Math.ST_Vector3D	Read	Cartesian velocity of the tracking source in the tracking coordinate system.
rstCartesianVelocityCSR	REFERENCE TO SE_Math.ST_Vector3D	Read	Cartesian velocity of the tracking source in the robot coordinate system.
xConfigDone	BOOL	Read	This property is set to TRUE when the method ConfigDone(…) was called successfully.
xInUse	BOOL	Read	Feedback if the source is actively used by the tracking. It is either synchronizing to, synchronous to or desynchronizing from this source.