IF_TrackingSource - General Information

Overview

This chapter provides information on:

The interface is used to configure a tracking source and for the exchange of data between the tracking source and the robotic function block.

The interface is used to configure a tracking source. The methods IF_TrackingSource.SetCoordinateSystem and IF_TrackingSource.SetMotionParameters must be called at least once before the method IF_TrackingSource.ConfigDone can be called successfully. When the tracking source was configured correctly (Property IF_TrackingSource.xConfigDone is TRUE) it can be forwarded to the robot with the help of the method IF_RobotConfiguration.AddTrackingSource. You must implement the method IF_TrackingSource.UpdateTrackingDataCartesian according to the needs of the tracking.

Name	Description
ConfigDone	Verify and complete the configuration of the tracking source.
EnableComponent	With this method additional tracking components can be enabled. By default, only the cartesian tracking is active. Only components that are available on the robot can be enabled.
EnablePositionMonitoring	Enable the monitoring of the tracking position to be contiguous.
GetCoordinateSystem	Read the geometrical configuration of the tracking coordinate system.
GetMotionParameters	Read the motion parameters of the tracking source.
GetOptionalParameters	Read the optional tracking parameters of the tracking source.
ModifyCoordinateSystem	Modify the geometrical configuration of the tracking coordinate system. The method can only be called after a successful call of IF_TrackingSource.SetCoordinateSystem.
SetCoordinateSystem	Geometrical configuration of the tracking coordinate system. The method can be called only once. To change the geometrical configuration, the method IF_TrackingSource.ModifyCoordinateSystem must be used.
SetMotionParameters	The method must be called at least once for all enabled tracking components to set the motion parameters for the tracking source.
SetOptionalParameters	Method to set optional parameters for the tracking source.
UpdateTrackingDataCartesian	The method is called by the FB_Robot every Sercos cycle. It must be implemented by the user to update the positions and velocities of the Cartesian tracking components with every call.

Name	Data type	Accessing	Description
etTrackingSystem	ET_CoordinateSystem	Read	Name of the tracking source.
rstCartesianPosition	REFERENCE TO SE_Math.ST_Vector3D	Read	Cartesian position of the tracking source in the tracking coordinate system.
rstCartesianPositionCSR	REFERENCE TO SE_Math.ST_Vector3D	Read	Cartesian position of the tracking source in the robot coordinate system.
rstCartesianVelocity	REFERENCE TO SE_Math.ST_Vector3D	Read	Cartesian velocity of the tracking source in the tracking coordinate system.
rstCartesianVelocityCSR	REFERENCE TO SE_Math.ST_Vector3D	Read	Cartesian velocity of the tracking source in the robot coordinate system.
xConfigDone	BOOL	Read	This property is set to TRUE when the method IF_TrackingSource.ConfigDone(…) was called successfully.
xInUse	BOOL	Read	Feedback if the tracking source is actively used by the tracking. It either synchronizes with this tracking source, is synchronous with it, or desynchronizes from it.