Evaluates the solution of the inverse kinematics, returning all the intermediate points.
The function block implements the interface IF_CollisionHandlerDelta3Ax.
Access: PUBLIC
|
Input |
Data type |
Description |
|---|---|---|
|
i_stKinematicsResult |
Structure containing the result of the kinematics for a Delta3Ax robot with reference to the coordinate system of the 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 |
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. |
|
q_xError |
q_etResult |
Enumeration value |
Description |
|---|---|---|---|
|
FALSE |
0 |
Success |
|
|
TRUE |
25 |
The provided position is outside the workspace. |
|
Enumeration name: |
OutsideWorkspace |
|
Enumeration value: |
25 |
|
Description: |
The provided position is outside the workspace. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Could not evaluate the inverse kinematics. |
i_stTCPPosition describes a position that is not reachable by the robot. |
Make sure to provide a TCP position that is inside the workspace of the robot. |