IF_TeachingCartesianPose - AddSample (Method)

Overview

Type:	Method
Available as of:	V1.8.0.0

This chapter provides information on:

Task
Description
Interface

Task

Adds a new sample to the active set.

Description

With the method AddSample(...), a new sample is added to the active set. Each sample consists of a TCP position and a target position, which both must refer to the same point in space.

NOTE: The active set and the number of samples already stored inside such a set can be read using the properties udiActiveSetIndex and udiNumberOfSamplesInActiveSet.

Access: PUBLIC

Interface

Input	Data type	Description
i_stTCPPosition	SE_MATH.ST_Vector3D	Cartesian position of the TCP referred to the coordinate system of the robot.
i_stTargetPosition	SE_MATH.ST_Vector3D	Cartesian position referred to the target coordinate system.
i_lrSampleTolerance	LREAL	Tolerance value used to verify the consistency of the samples. The algorithm verifies that the distance between the previous and the new sample of the TCP position compared to the distance between the previous and new target position samples is within this tolerance value. Default value: 1.0 mm

Input

Data type

Description

i_stTCPPosition

SE_MATH.ST_Vector3D

Cartesian position of the TCP referred to the coordinate system of the robot.

i_stTargetPosition

SE_MATH.ST_Vector3D

Cartesian position referred to the target coordinate system.

i_lrSampleTolerance

LREAL

Tolerance value used to verify the consistency of the samples.

The algorithm verifies that the distance between the previous and the new sample of the TCP position compared to the distance between the previous and new target position samples is within this tolerance value.

Default value: 1.0 mm

Output	Data type	Description
q_xError	BOOL	TRUE: An error occurred during last command. For more information refer also to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information. If q_xError = FALSE, then q_etResult provides status information. If q_xError = TRUE, then q_etResult provides diagnostic/error information. The enumeration ET_Result contains the possible values of the POU operation results.
q_sResultMsg	STRING[80]	Provides additional information about the current status of the POU.

Output

Data type

Description

q_xError

BOOL

TRUE: An error occurred during last command. For more information refer also to q_etResult and q_sResultMsg.

q_etResult

ET_Result

Provides diagnostic and status information.

If q_xError = FALSE, then q_etResult provides status information.

If q_xError = TRUE, then q_etResult provides diagnostic/error information.

The enumeration ET_Result contains the possible values of the POU operation results.

q_sResultMsg

STRING[80]

Provides additional information about the current status of the POU.