IF_CollisionHandlerSCARA4Ax - SetParameters (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface

Task

This method provides a set of parameters.

Description

This method provides a set of parameters that describe a SCARA4Ax robot from both a kinematic and geometric point of view.

NOTE: Calling this method causes a reset of the collision entity managed by the function block that is then reconfigured based on the input parameters.

Interface

Access: PUBLIC

Input	Data type	Description
i_stParameters	ST_SCARA4AxParameters	A kinematic and geometric description for a SCARA4Ax 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	ET_Result	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.