FB_CollisionHandlerPSeries - SetOptionalParameters (Method)

Overview

Type:	Method
Available as of:	V2.12.1.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Set the optional parameters for a P-Series collision handler.

Description

This method is used set the optional parameters of a P-Series collision handler. For more details on the optional parameters, refer to ST_CollisionHandlerPSeriesOptionalParameters.

NOTE:

The method can be called multiple times to reconfigure the optional parameters.
The optional parameters influence the next call of the configuration method SetParametersFromRobotPSeries. These parameters are ignored on a call of SetParameters
.

Interface

Input	Data type	Description
i_stData	ST_CollisionHandlerPSeriesOptionalParameters	The optional parameters for the collision handler of a P -Series 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	Successful
TRUE	CollisionMarginRange	3	The collision margin value is outside the admissible range.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Successful

CollisionMarginRange

Enumeration name:	CollisionMarginRange
Enumeration value:	3
Description:	The collision margin value is outside the admissible range.

Issue	Cause	Solution
The optional parameter could not be set successfully.	i_stData.lrCollisionMargin has a negative value.	Make sure that i_stData.lrCollisionMargin has a positive or null value.