IF_EntitiesHandler - CalcEntitiesRelativePose (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

Task
Description
Interface
Return Value
Diagnostic Messages

Task

Calculate the relative Cartesian pose between the base frame of a source entity and the base frame of a target entity.

Description

The method CalcEntitiesRelativePose is used to calculate the relative Cartesian pose between the base frame of a source entity and the base frame of a target entity.

Interface

Input	Data type	Description
i_etSourceSystemId	ET_SystemEntity	An ID used to unequivocally identify an entity in the system. Admissible values are in the ranges: ET_SystemEntity.Conveyor1...ET_SystemEntity.Conveyor30 and ET_SystemEntity.Robot1...ET_SystemEntity.Robot10 and ET_SystemEntity.TargetGenerator1...ET_SystemEntity.TargetGenerator30 and ET_SystemEntity.Global
i_etTargetSystemId	ET_SystemEntity	An ID used to unequivocally identify an entity in the system. Admissible values are in the ranges: ET_SystemEntity.Conveyor1...ET_SystemEntity.Conveyor30 and ET_SystemEntity.Robot1...ET_SystemEntity.Robot10 and ET_SystemEntity.TargetGenerator1...ET_SystemEntity.TargetGenerator30 and ET_SystemEntity.Global
i_etOrientationConvention	ROB.ET_OrientationConvention	Orientation convention used to represent the orientation of the resulting pose. Admissible values are in the ranges: ROB.ET_OrientationConvention.XYZ ROB.ET_OrientationConvention.ZYX Refer to Robotic Library - ET_OrientationConvention.

Input

Data type

Description

i_etSourceSystemId

ET_SystemEntity

An ID used to unequivocally identify an entity in the system.

Admissible values are in the ranges:

ET_SystemEntity.Conveyor1...ET_SystemEntity.Conveyor30 and
ET_SystemEntity.Robot1...ET_SystemEntity.Robot10 and
ET_SystemEntity.TargetGenerator1...ET_SystemEntity.TargetGenerator30 and
ET_SystemEntity.Global

i_etTargetSystemId

ET_SystemEntity

An ID used to unequivocally identify an entity in the system.

Admissible values are in the ranges:

ET_SystemEntity.Conveyor1...ET_SystemEntity.Conveyor30 and
ET_SystemEntity.Robot1...ET_SystemEntity.Robot10 and
ET_SystemEntity.TargetGenerator1...ET_SystemEntity.TargetGenerator30 and
ET_SystemEntity.Global

i_etOrientationConvention

ROB.ET_OrientationConvention

Orientation convention used to represent the orientation of the resulting pose.

Admissible values are in the ranges:

ROB.ET_OrientationConvention.XYZ
ROB.ET_OrientationConvention.ZYX

Refer to Robotic Library - ET_OrientationConvention.

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.

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.

Return Value

Data type	Description
ST_CartesianPose	A Cartesian pose describing the relative Cartesian pose transformation from the source system base pose to the target system base pose.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	Ok
InputParameterInvalid	ConveyorIdUnknown	133	A provided conveyor ID is invalid.
InputParameterInvalid	EntityIdInvalid	132	A provided entity ID is invalid.
InputParameterInvalid	OrientationConventionInvalid	38	Invalid orientation convention.
InputParameterInvalid	RobotIdUnknown	130	A provided robot ID is invalid.
UnexpectedProgramBehavior	UnexpectedFeedback	4	Internal error detected.
InputParameterInvalid	TargetGeneratorIdUnknown	174	A provided target generator type is invalid.

ConveyorIdUnknown

Enumeration name:	ConveyorIdUnknown
Enumeration value:	133
Description:	A provided conveyor ID is invalid.

Issue	Cause	Solution
The relative pose has not been successfully evaluated.	i_etSourceSystemId contains an indeterminable conveyor system ID.	Ensure that the value of i_etSourceSystemId refers to a previously configured conveyor.
The relative pose has not been successfully evaluated.	i_etTargetSystemId contains an indeterminable conveyor system ID.	Ensure that the value of i_etTargetSystemId refers to a previously configured conveyor.

EntityIdInvalid

Enumeration name:	EntityIdInvalid
Enumeration value:	132
Description:	A provided entity ID is invalid

Issue	Cause	Solution
The relative pose has not been successfully evaluated.	i_etSourceSystemId contains an invalid entity ID.	Ensure that the value of i_etSourceSystemId refers to an entity ID in the range: ET_SystemEntity.Conveyor1...ET_SystemEntity.Conveyor30 or ET_SystemEntity.Robot1...ET_SystemEntity.Robot10
i_etTargetSystemId contains an invalid entity ID.	Ensure that the value of i_etTargetSystemId refers to an entity ID in the range: ET_SystemEntity.Conveyor1...ET_SystemEntity.Conveyor30 or ET_SystemEntity.Robot1...ET_SystemEntity.Robot10.

Issue

Cause

Solution

The relative pose has not been successfully evaluated.

i_etSourceSystemId contains an invalid entity ID.

Ensure that the value of i_etSourceSystemId refers to an entity ID in the range:

ET_SystemEntity.Conveyor1...ET_SystemEntity.Conveyor30 or
ET_SystemEntity.Robot1...ET_SystemEntity.Robot10

i_etTargetSystemId contains an invalid entity ID.

Ensure that the value of i_etTargetSystemId refers to an entity ID in the range:

ET_SystemEntity.Conveyor1...ET_SystemEntity.Conveyor30 or
ET_SystemEntity.Robot1...ET_SystemEntity.Robot10.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

Status message: The relative pose has been evaluated successfully.

OrientationConventionInvalid

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

Issue	Cause	Solution
The relative pose has not been successfully evaluated.	i_etOrientationConvention contains an invalid orientation convention.	Provide a valid value for the orientation convention. Admissible values are: ROB.ET_OrientationConvention.XYZ ROB.ET_OrientationConvention.ZYX Refer to Robotic Library - ET_OrientationConvention.

Issue

Cause

Solution

The relative pose has not been successfully evaluated.

i_etOrientationConvention contains an invalid orientation convention.

Provide a valid value for the orientation convention.

Admissible values are:

ROB.ET_OrientationConvention.XYZ
ROB.ET_OrientationConvention.ZYX

Refer to Robotic Library - ET_OrientationConvention.

RobotIdUnknown

Enumeration name:	RobotIdUnknown
Enumeration value:	130
Description:	A provided robot ID is invalid.

Issue	Cause	Solution
The relative pose has not been successfully evaluated.	i_etSourceSystemId contains an indeterminable robot system ID.	Ensure that the value of i_etSourceSystemId refers to a previously configured robot.
The relative pose has not been successfully evaluated.	i_etTargetSystemId contains an indeterminable robot system ID.	Ensure that the value of i_etTargetSystemId refers to a previously configured robot.

UnexpectedFeedback

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

Issue	Cause	Solution
The relative pose has not been successfully evaluated.	An indeterminable exception occurred.	-

TargetGeneratorIdUnknown

Enumeration name:	TargetGeneratorIdUnknown
Enumeration value:	174
Description:	A provided target generator type is invalid.

Issue	Cause	Solution
A provided target generator ID is invalid.	i_etTargetGeneratorId contains an indeterminable target generator system ID.	Ensure that the value of i_etTargetGeneratorId refers to a previously configured target generator.