With the method GetTrackingParameters(…), a set of parameters can be retrieved from a tracking system.
Also refer to Minimizing the Influence of a Tracking System on the Trajectory of a Robot.
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Input |
Data type |
Description |
|---|---|---|
|
i_etTrackingSystem |
Tracking system from which the parameters should be retrieved. Valid value: Identifier of a configured tracking system. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
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 additional information on the diagnostic state. |
|
q_stParameters |
Parameters that should be retrieved from the tracking system transferred at input i_etTrackingSystem. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Ok |
|
InputParameterInvalid |
CoordinateSystemInvalid |
117 |
The coordinate system is invalid. |
|
InputParameterInvalid |
CoordinateSystemNotConfigured |
172 |
The coordinate system is not configured. |
|
UnexpectedProgramBehavior |
UnexpectedFeedback |
13 |
A feedback value was invalid. |
|
Enumeration name: |
CoordinateSystemInvalid |
|
Enumeration value: |
117 |
|
Description: |
The coordinate system is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Retrieving the tracking parameters was unsuccessful. |
The value transferred at the input i_etTrackingSystem does not represent a tracking system. |
Verify that at the input i_etTrackingSystem a configured tracking system is transferred, and correct if necessary. |
|
Enumeration name: |
CoordinateSystemNotConfigured |
|
Enumeration value: |
172 |
|
Description: |
The coordinate system is not configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Retrieving the tracking parameters was unsuccessful. |
The value transferred at the input i_etTrackingSystem does not represent a configured tracking system. |
Verify that at the input i_etTrackingSystem a configured tracking system is transferred, and correct if necessary. |