IF_TrackingSourceAuxAx - UpdateTrackingDataAuxAx (Method)

Overview

This chapter provides information on:

• Task

• Description

• Interface

Task

The method is called by the FB_Robot every Sercos cycle while the robot is enabled. During each cycle, an update of the position and the velocity for configured tracking components is necessary.

Description

The method must be implemented according to the needs of the tracking. The method is called every Sercos cycle by the FB_Robot functionality. When the method is called, the values of the outputs q_alrAuxAxPosition and q_alrAuxAxVelocity must be updated according to the movement of the tracking target. The outputs for components which are not configured must be zero.

For further information, refer to Implement a User Specific Tracking Source.

The outputs q_etDiag, q_etDiagExt and q_sMsg can be used to trigger an exception on the robot in case there is any exception detected by the user code implemented in this method. An exception can be triggered by setting the output q_etDiag to a value not equal to GD.ET_Diag.OK.

Interface