FB_LIFOInsideArea - SetData (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Set the additional information required by the algorithm to assign an owner to a target.

Description

The method SetData, sets the additional information required by the algorithm to assign an owner to a target.

Interface

Input	Data type	Description
i_ifTargetsHandler	IF_TargetsHandler	Implementation of an IF_TargetsHandler interface that contains a list of targets.
i_stTrackingConstraints	ST_TrackingConstraints	Constraints for a tracking system.
i_xSelectTargetsWithNoOwner	BOOL	If set to TRUE, it allows the algorithm to select targets with no assigned owner.
i_xSelectTargetsWithAnyOwner	BOOL	If set to TRUE, it allows the algorithm to select targets with an owner different from the robot for which it is searching a valid target.
i_xAccuratePositionCalculation	BOOL	If set to TRUE, in case of a targets handler with slots, the algorithm considers the present position of the single slots to determine if they are in the area described by the tracking constraints. If set to FALSE, even in case of a targets handler with slots, the algorithm considers the pose of the container target to determine if the slots are in the area described by the tracking constraints. In case of a number of slots greater than zero, the first valid slot inside the selected target is returned, accordingly with the order of configuration of the slots. For more information, refer to IF_TargetsHandler - ConfigureSlotList.

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

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	Ok
InputParameterInvalid	CartesianDirectionInvalid	160	The selected Cartesian direction is invalid.
InputParameterInvalid	InterfaceInvalid	122	A provided interface is invalid.
InputParameterInvalid	PositionRangeInvalid	162	The values defined for a position range are not valid.
InputParameterInvalid	WorkingPlaneInvalid	161	The selected working plane is invalid.
InputParameterInvalid	TargetsHandlerInterfaceInvalid	153	The selected targets handler interface is invalid.

CartesianDirectionInvalid

Enumeration name:	CartesianDirectionInvalid
Enumeration value:	160
Description:	The selected Cartesian direction is invalid.

Issue	Cause	Solution
The data was not successfully set.	i_stTrackingConstraints contains an invalid direction value.	Ensure that the Cartesian direction of the tracking system contains one of the following values: ROB.ET_RobotComponent.CartesianX ROB.ET_RobotComponent.CartesianY ROB.ET_RobotComponent.CartesianZ Refer to Robotic Library - ET_RobotComponent.

Issue

Cause

Solution

The data was not successfully set.

i_stTrackingConstraints contains an invalid direction value.

Ensure that the Cartesian direction of the tracking system contains one of the following values:

ROB.ET_RobotComponent.CartesianX
ROB.ET_RobotComponent.CartesianY
ROB.ET_RobotComponent.CartesianZ

Refer to Robotic Library - ET_RobotComponent.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	122
Description:	A provided interface is invalid.

Issue	Cause	Solution
The data was not successfully set.	i_ifTargetsHandler contains a null interface.	Ensure that i_ifTargetsHandler contains a valid interface.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

Status message: The data is successfully set.

PositionRangeInvalid

Enumeration name:	PositionRangeInvalid
Enumeration value:	162
Description:	The values defined for a position range are not valid.

Issue	Cause	Solution
The data was not successfully set.	i_stTrackingConstraints contains a minimum position that is greater than the maximum position.	Ensure that for each tracking system, the minimum position is set to a value equal or smaller than the maximum position.

WorkingPlaneInvalid

Enumeration name:	WorkingPlaneInvalid
Enumeration value:	161
Description:	The selected working plane is invalid.

Issue	Cause	Solution
The data was not successfully set.	i_stTrackingConstraints contains an invalid working plane value.	Ensure that the working plane of the tracking system contains one of the following values: ROB.ET_WorkingPlane.XY ROB.ET_WorkingPlane.XZ ROB.ET_WorkingPlane.YZ Refer to, Robotic Library - ET_WorkingPlane.

Issue

Cause

Solution

The data was not successfully set.

i_stTrackingConstraints contains an invalid working plane value.

Ensure that the working plane of the tracking system contains one of the following values:

ROB.ET_WorkingPlane.XY
ROB.ET_WorkingPlane.XZ
ROB.ET_WorkingPlane.YZ

Refer to, Robotic Library - ET_WorkingPlane.

TargetsHandlerInterfaceInvalid

Enumeration name:	TargetsHandlerInterfaceInvalid
Enumeration value:	153
Description:	The selected targets handler interface is invalid.

Issue	Cause	Solution
The interface of the targets handler is invalid.	The function block does not support targets handlers that have been configured for a rotative system.	Ensure that the targets handler that is handed over at i_ifTargetsHandler is not configured as rotative.