IF_TrackingSource - EnableComponent (Method)

Overview

Type:	Method
Available as of:	V3.6.5.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Enable one or more additional tracking components.

Description

By default, the tracking is only enabled for cartesian components. Additional individual components or groups of components can be enabled with this method.

For each enabled component, the tracking motion parameters must be set with the method SetMotionParameters. In case a component is not available, the method IF_RoboConfiguration.AddTrackingSource will report an exception.

Interface

Input	Data type	Description
i_etComponent	ET_RobotComponent	Component to be enabled. Valid Values are: ET_RobotComponent.All ET_RobotComponent.AuxAxAll ET_RobotComponent.AuxAx1..AuxAx10

Input

Data type

Description

i_etComponent

ET_RobotComponent

Component to be enabled.

Valid Values are:

ET_RobotComponent.All
ET_RobotComponent.AuxAxAll
ET_RobotComponent.AuxAx1..AuxAx10

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal 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 additional information on the diagnostic state.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic.

A value not equal 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 additional information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	OK	0	Ok
ExecutionAborted	TrackingSourceInterfaceMissing	246	A tracking source interface is missing.
InputParameterInvalid	ComponentInvalid	132	The component is invalid.

ComponentInvalid

Enumeration name:	ComponentInvalid
Enumeration value:	132
Description:	The component is invalid.

Issue	Cause	Solution
The configuration of the tracking component was not successful.	The value transferred at the input i_etComponent is invalid.	Ensure that one of the following values is assigned to i_etComponent: ET_RobotComponent.All ET_RobotComponent.AuxAxAll ET_RobotComponent.AuxAx1..AuxAx10

Issue

Cause

Solution

The configuration of the tracking component was not successful.

The value transferred at the input i_etComponent is invalid.

Ensure that one of the following values is assigned to i_etComponent:

ET_RobotComponent.All
ET_RobotComponent.AuxAxAll
ET_RobotComponent.AuxAx1..AuxAx10

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the tracking component was successful.

TrackingSourceInterfaceMissing

Enumeration name:	TrackingSourceInterfaceMissing
Enumeration value:	246
Description:	A tracking source interface is missing.

Issue	Cause	Solution
The configuration of the tracking component was not successful.	A tracking source interface is missing.	Ensure that one of the following values is assigned to i_etComponent: ET_RobotComponent.All ET_RobotComponent.AuxAxAll ET_RobotComponent.AuxAx1..10 Ensure that the tracking source function block implements the interface IF_TrackingSourceAuxAx.

Issue

Cause

Solution

The configuration of the tracking component was not successful.

A tracking source interface is missing.

Ensure that one of the following values is assigned to i_etComponent:

ET_RobotComponent.All
ET_RobotComponent.AuxAxAll
ET_RobotComponent.AuxAx1..10

Ensure that the tracking source function block implements the interface IF_TrackingSourceAuxAx.