IF_TargetsHandler - AddTargetFromTargetWithSlots (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Adds a new target to the list starting from the information contained in an ST_RobotTargetWithSlots structure.

Description

The method AddTargetFromTargetWithSlots adds a target to the list handled by the function block starting from the information contained in an ST_RobotTargetWithSlots structure.

Interface

Input	Data type	Description
i_stPose	ST_CartesianPose	The Cartesian pose of the target when it was first detected in the system (for example, the pose returned by a vision system).
i_lrEncoderPosition	LREAL	The position of the encoder linked to the targets handler when the target was first detected by the system.
stRobotTargetWithSlots	ST_RobotTargetWithSlots	A structure containing the information of a robot target containing slots. The initial pose, the present pose, and the initial encoder position are the only informations that are updated accordingly with the inputs i_stPose and i_lrEncoderPosition.

Input

Data type

Description

i_stPose

ST_CartesianPose

The Cartesian pose of the target when it was first detected in the system (for example, the pose returned by a vision system).

i_lrEncoderPosition

LREAL

The position of the encoder linked to the targets handler when the target was first detected by the system.

stRobotTargetWithSlots

ST_RobotTargetWithSlots

A structure containing the information of a robot target containing slots.

The initial pose, the present pose, and the initial encoder position are the only informations that are updated accordingly with the inputs i_stPose and i_lrEncoderPosition.

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.
q_udiListIndex	UDINT	Index of the container target created by the targets handler.
q_udiUnivocalId	UDINT	Unique identifier linked to the container target.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
Ok	Ok	0	Ok
ExecutionAborted	MaxNumberOfTargetsExceeded	108	The list already contains the maximum number of targets.
ExecutionAborted	NotConfigured	101	The function block is not configured yet.
ExecutionAborted	NumberOfSlotsInvalid	117	The configured number of slots is invalid for a called method.
ExecutionAborted	UnexpectedFeedback	4	Internal error detected.
ExecutionAborted	UpdateTargetsActive	109	An update of the target handler targets is running and some method cannot be called.
InputParameterInvalid	NumberOfSlotsValue	116	The number of slots provided does not match the configured number of slots of the targets handler.
InputParameterInvalid	OrientationConventionInvalid	38	Invalid orientation convention.
InputParameterInvalid	RobotIdInvalid	120	A provided robot ID has an invalid value.
InputParameterInvalid	SlotIndexValue	114	The index of a slot is not correct.
InputParameterInvalid	UnivocalIdInvalid	110	The identifier is invalid (a zero value is not allowed).

MaxNumberOfTargetsExceeded

Enumeration name:	MaxNumberOfTargetsExceeded
Enumeration value:	108
Description:	The list already contains the maximum number of targets.

Issue	Cause	Solution
The target has not been added to the targets handler.	The maximum number (Gc_udiMaxNumberOfTargets) of targets has been reached. It is not possible to add new targets.	Remove the targets from the list once they have been processed by the system.

NotConfigured

Enumeration name:	NotConfigured
Enumeration value:	101
Description:	The function block is not configured yet.

Issue	Cause	Solution
The target has not been added to the targets handler.	The Configuration method has not been called yet.	Ensure that the Configuration method has been successful before calling this method.

NumberOfSlotsInvalid

Enumeration name:	NumberOfSlotsInvalid
Enumeration value:	117
Description:	The configured number of slots is invalid for a called method.

Issue	Cause	Solution
The target has not been added to the targets handler.	It is not possible to add a new target to the targets handler while the number of configured slots is zero.	Ensure that the number of configured slots is greater than zero before calling this method. To add a target without slots, call AddTargetFromTarget.

NumberOfSlotsValue

Enumeration name:	NumberOfSlotsValue
Enumeration value:	116
Description:	The number of slots provided does not match the configured number of slots of the targets handler.

Issue	Cause	Solution
The target has not been added to the targets handler.	The number of slots described inside i_stRobotTargetWithSlots does not match the number of slots configured inside the function block.	Verify that the number of slots is correct.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

Status Message: The target has been successfully added to the targets handler.

OrientationConventionInvalid

Enumeration name:	OrientationConventionInvalid
Enumeration value:	38
Description:	Invalid orientation convention.

Issue	Causes	Solution
The target has not been added to the targets handler.	The input value of i_stPose.etOrientationConvention is invalid.	Provide one of the permissible values of ROB.ET_OrientationConvention. Refer to Robotic Library - ET_OrientationConvention.
The orientation convention of the relative pose of one of the listed slots is invalid.

Issue

Causes

Solution

The target has not been added to the targets handler.

The input value of i_stPose.etOrientationConvention is invalid.

Provide one of the permissible values of ROB.ET_OrientationConvention.

Refer to Robotic Library - ET_OrientationConvention.

The orientation convention of the relative pose of one of the listed slots is invalid.

RobotIdInvalid

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

Issue	Causes	Solution
The target has not been added to the targets handler.	The input i_stRobotTargetWithSlots does not contain a valid robot ID.	Verify that the robot identifier value is either within the range [ET_SystemEntity.Robot1...ET_SystemEntity.Robot10] or is equal to ET_SystemEntity.None.
The target has not been added to the targets handler.	The robot identifier of one of the listed slots is invalid.

SlotIndexValue

Enumeration name:	SlotIndexValue
Enumeration value:	114
Description:	The index of a slot is not correct.

Issue	Cause	Solution
The target has not been added to the targets handler.	The index of one slot does not match the index in the list.	Verify that each slot contains an index reflecting its index in the list.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	4
Description:	Internal error detected.

Adding a new target to the list was unsuccessful.

UnivocalIdInvalid

Enumeration name:	UnivocalIdInvalid
Enumeration value:	110
Description:	The identifier is invalid (a zero value is not allowed).

Issue	Causes	Solution
The target has not been added to the targets handler.	The input i_stRobotTargetWithSlots does not contain a valid identifier.	Verify that the identifier value is greater than zero.
The target has not been added to the targets handler.	The identifier of one of the listed slots is invalid.	Verify that the identifier value is greater than zero.

UpdateTargetsActive

Enumeration name:	UpdateTargetsActive
Enumeration value:	109
Description:	An update of the target handler targets is running and some method cannot be called.

Issue	Cause	Solution
The target has not been added to the targets handler.	It is not possible to add a new target to the targets handler while the UpdateTargets method is running.	Ensure that the UpdateTargets method is not running before calling this method.