With the method GetTrackingSource the configured tracking source can be read.
If the tracking source transferred at the input i_etName is configured, the interface ROB.IF_TrackingSource of this tracking source is returned.
In case the tracking source is not configured, an empty interface is returned with the corresponding diagnostic message.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etName |
ROB.ET_CoordinateSystem |
Specifies which tracking source must be read. Valid values are ROB.ET_CoordinateSystem.Tracking1… ROB.ET_CoordinateSystem.Tracking30 . |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General, library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
POU-specific output for 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_ifSource |
ROB.IF_TrackingSource |
Interface of the tracking source. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Ok |
|
ExecutionAborted |
ExternalPositionSourceConfigured |
357 |
The external position source is configured. |
|
InputParameterInvalid |
CoordinateSystemInvalid |
93 |
The coordinate system is invalid. |
|
InputParameterInvalid |
CoordinateSystemNotConfigured |
268 |
The coordinate system is not configured. |
|
InputParameterInvalid |
TrackingSourceNotConfigured |
392 |
The tracking source is not configured. |
|
Enumeration name: |
ExternalPositionSourceConfigured |
|
Enumeration value: |
357 |
|
Description: |
The external position source is configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the configured tracking source was not successful. |
The value transferred at the input i_etName is invalid. |
It is not possible to read a tracking source when the robot is configured to use an external position source. Do not read the tracking source. |
|
Enumeration name: |
CoordinateSystemInvalid |
|
Enumeration value: |
93 |
|
Description: |
The coordinate system is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the configured tracking source was not successful. |
The value transferred at the input i_etName is invalid. |
Ensure that a valid value is transferred at the input i_etName. Valid values are ROB.ET_CoordinateSystem.Tracking1… ROB.ET_CoordinateSystem.Tracking30. |
|
Enumeration name: |
CoordinateSystemNotConfigured |
|
Enumeration value: |
286 |
|
Description: |
The coordinate system is not configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the configured tracking source was not successful. |
The coordinate system is not configured. |
Ensure that the tracking source was configured successfully on the robot with the configuration method IF_RobotConfiguration.AddTrackingSource before reading it. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
The configuration of the tracking source was successful.
|
Enumeration name: |
TrackingSourceNotConfigured |
|
Enumeration value: |
392 |
|
Description: |
The tracking source is not configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Reading the configured tracking source was not successful. |
The tracking system is not a tracking source. |
Ensure that the tracking source was configured successfully on the robot using the IF_RobotConfiguration.AddTrackingSource configuration method before reading it. |