This method returns a set of configured parameters that describe a SCARA4Ax robot from both a kinematic and geometric point of view.
The function block implements the interface IF_CollisionHandlerSCARA4Ax.
Access: PUBLIC
|
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 |
26 |
The object is not configured. |
|
Enumeration name: |
NotConfigured |
|
Enumeration value: |
26 |
|
Description: |
The object is not configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Could not get the parameters. |
The collision handler has not been configured, meaning that xConfigured = FALSE. |
Make a successful call of SetParameters before calling this method. |