IF_EntitiesHandler - AddConveyor (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Store a new linear conveyor entity.

Description

The method AddConveyor is used to store a new conveyor entity.

Once a conveyor has been stored with a specific ID, it is not possible to use such ID to store a new conveyor entity, since every entity ID must be unique in the system.

Interface

Input	Data type	Description
i_stData	ST_ConveyorEntityData	A data structure containing a description of a conveyor entity and the ID that is used to identify it inside the system.

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	Ok
InputParameterInvalid	ConveyorIdDuplicated	149	A conveyor entity already exists with the same ID.
InputParameterInvalid	ConveyorIdInvalid	145	A provided conveyor ID is invalid.
InputParameterInvalid	ConveyorNameInvalid	151	The name assigned to a conveyor entity is invalid.
InputParameterInvalid	HeightRange	143	A provided height is not within its admissible range.
InputParameterInvalid	LengthRange	141	A provided length is not within its admissible range.
ExecutionAborted	MaxNumberOfConveyorsExceeded	150	The maximum number of configurable conveyors is reached.
InputParameterInvalid	OrientationConventionInvalid	38	Invalid orientation convention.
InputParameterInvalid	PlaneInvalid	37	The selected working plane is invalid.
InputParameterInvalid	TrackingDirectionInvalid	105	The tracking direction is invalid.
InputParameterInvalid	WidthRange	142	A provided width is not within its admissible range.

ConveyorIdDuplicated

Enumeration name:	ConveyorIdDuplicated
Enumeration value:	149
Description:	A conveyor entity already exists with the same ID.

Issue	Cause	Solution
The conveyor has not been added to the list.	A conveyor with the same ID has already been added to the list.	Ensure that every conveyor has a unique ID.

ConveyorIdInvalid

Enumeration name:	ConveyorIdInvalid
Enumeration value:	145
Description:	A provided conveyor ID is invalid.

Issue	Cause	Solution
The conveyor has not been added to the list.	i_stData.etSystemEntityId contains an invalid value.	Provide a value in the range ET_SystemEntity.Conveyor1...ET_SystemEntity.Conveyor30.

ConveyorNameInvalid

Enumeration name:	ConveyorNameInvalid
Enumeration value:	151
Description:	The name assigned to a conveyor entity is invalid.

Issue	Cause	Solution
The conveyor has not been added to the list.	i_stData.sName contains an empty string or a conveyor with the same name has already been configured.	Ensure that the name of the conveyor is not an empty string. Ensure that the name of the conveyor is unique.

HeightRange

Enumeration name:	HeightRange
Enumeration value:	143
Description:	A provided height is not within its admissible range.

Issue	Cause	Solution
The conveyor has not been added to the list.	i_stData.lrHeigth contains a negative value.	Provide a zero or positive value for the height of the conveyor.

LengthRange

Enumeration name:	LengthRange
Enumeration value:	141
Description:	A provided length is not within its admissible range.

Issue	Cause	Solution
The conveyor has not been added to the list.	i_stData.lrLength is either negative or null.	Provide a strictly positive value for the length of the conveyor.

MaxNumberOfConveyorsExceeded

Enumeration name:	MaxNumberOfConveyorsExceeded
Enumeration value:	150
Description:	The maximum number of configurable conveyors is reached.

Issue	Cause	Solution
The conveyor has not been added to the list.	A conveyor with the same ID has already been added to the list.	Ensure, not to add more than Gc_udiMaxNumberOfConveyors conveyors.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

Status message: The data is successfully set.

OrientationConventionInvalid

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

Issue	Cause	Solution
The conveyor has not been added to the list.	i_stData.stBasePose.etOrientationConvention contains an invalid orientation convention value.	Ensure that the orientation convention has one of the following values: ROB.ET_OrientationConvention.XYZ ROB.ET_OrientationConvention.ZYX Refer to Robotic Library - ET_OrientationConvention.

Issue

Cause

Solution

The conveyor has not been added to the list.

i_stData.stBasePose.etOrientationConvention contains an invalid orientation convention value.

Ensure that the orientation convention has one of the following values:

ROB.ET_OrientationConvention.XYZ
ROB.ET_OrientationConvention.ZYX

Refer to Robotic Library - ET_OrientationConvention.

PlaneInvalid

Enumeration name:	PlaneInvalid
Enumeration value:	37
Description:	The selected working plane is invalid.

Issue	Cause	Solution
The conveyor has not been added to the list.	i_stData.etSurfacePlane contains an invalid surface plane value.	Ensure that the variable has one of the following values: ROB.ET_WorkingPlane.XY ROB.ET_WorkingPlane.XZ ROB.ET_WorkingPlane.YZ Refer to Robotic Library - ET_WorkingPlane.

Issue

Cause

Solution

The conveyor has not been added to the list.

i_stData.etSurfacePlane contains an invalid surface plane value.

Ensure that the variable has one of the following values:

ROB.ET_WorkingPlane.XY
ROB.ET_WorkingPlane.XZ
ROB.ET_WorkingPlane.YZ

Refer to Robotic Library - ET_WorkingPlane.

TrackingDirectionInvalid

Enumeration name:	TrackingDirectionInvalid
Enumeration value:	105
Description:	The tracking direction is invalid.

Issue	Cause	Solution
The conveyor has not been added to the list.	i_stData.etDirection contains an invalid tracking direction value.	Select a valid tracking direction: ROB.ET_RobotComponent.CartesianX ROB.ET_RobotComponent.CartesianY ROB.ET_RobotComponent.CartesianZ Select a tracking direction contained in the selected tracking plane. For example, if the selected tracking plane is ROB.ET_WorkingPlane.XY, the tracking direction value must be either ROB.ET_RobotComponent.CartesianX or ROB.ET_RobotComponent.CartesianY. Refer to Robotic Library - ET_RobotComponent.

Issue

Cause

Solution

The conveyor has not been added to the list.

i_stData.etDirection contains an invalid tracking direction value.

Select a valid tracking direction:

ROB.ET_RobotComponent.CartesianX
ROB.ET_RobotComponent.CartesianY
ROB.ET_RobotComponent.CartesianZ

Select a tracking direction contained in the selected tracking plane. For example, if the selected tracking plane is ROB.ET_WorkingPlane.XY, the tracking direction value must be either ROB.ET_RobotComponent.CartesianX or ROB.ET_RobotComponent.CartesianY.

Refer to Robotic Library - ET_RobotComponent.

WidthRange

Enumeration name:	WidthRange
Enumeration value:	142
Description:	A provided width is not within its admissible range.

Issue	Cause	Solution
The conveyor has not been added to the list.	i_stData.lrWidth contains a negative value.	Provide a zero or positive value for the width of the conveyor.