IF_PickPlaceEventsListener - OnPlaceDone (Method)

Overview

Type:

Method

Available as of:

V1.6.0.0

This chapter provides information on:

Task

Method called on the completion of a place action.

Description

This method can be implemented to execute some code on the occurrence of the related event.

Access: PUBLIC

Interface

Input

Data type

Description

i_stTarget

SERT.ST_RobotTarget

Robot target structure containing the information on the place target.

i_etRobotId

SERT.ET_SystemEntity

ID of the robot performing the place action.

i_udiRobotTool

UDINT

ID of the robot tool used to perform the pick action.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic. A value unequal to 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 additional information on the diagnostic state.