IF_TargetSelectionStrategy - GetRobotTarget (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

Implements the algorithm that is then applied to find a valid target for a specific robot.

With the method GetRobotTarget(...), the algorithm that is then applied to find a valid target for a specific robot is implemented.

The call of this method is unsuccessful, if the property xValidData has a FALSE value.

Input	Data type	Description
i_etRobotId	ET_SystemEntity	ID of the robot for which the algorithm needs to find a valid target.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal 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 more detailed information on the diagnostic state.

Output

Data type

Description

q_etDiag

General library-independent statement on the diagnostic. A value unequal 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 more detailed information on the diagnostic state.

Data type	Description
ST_RobotTarget	Robot target returned by the algorithm.

q_etDiag	q_etDiagExt	Enumeration value	Description
Ok	Ok	0	Ok
ExecutionAborted	TargetSelectionStrategyDataInvalid	163	A target selection strategy function block is not configured with valid data.
InputParameterInvalid	RobotIdInvalid	120	A provided robot ID has an invalid value.

Status Message: The method was successfully called.

Enumeration name:	RobotIdInvalid
Enumeration value:	120
Description:	A provided robot ID has an invalid value.

Issue	Cause	Solution
The method was not successfully called.	i_etRobotId contains an invalid robot ID.	Ensure that the value of i_etRobotId is within the range [ET_SystemEntity.Robot1...ET_SystemEntity.Robot10].

Enumeration name:	TargetSelectionStrategyDataInvalid
Enumeration value:	163
Description:	A target selection strategy function block is not configured with valid data.

Issue	Cause	Solution
The method was not successful.	The method was called but no valid data was configured.	Ensure that xValidData = TRUE before calling this method.