IF_RobotConfiguration - AddTrackingSource (Method)

Overview

Type:	Method
Available as of:	V3.6.5.0

This chapter provides information on:

Task
Description
Interface
Return Value
Diagnostic Messages

Task

Adding a configured tracking source to the robot.

Description

With the method AddTrackingSource(…), a tracking source can be added to the robot.

The tracking sources must be added to the robot before the method IF_RobotConfiguration.ConfigDone is called.

NOTE: The usage of tracking sources cannot be combined with linear and rotative tracking systems. It is not possible to add these systems as soon as a tracking source was configured and vice versa.

The following methods are not compatible and will return an exception when called after the configuration of a tracking source:

IF_RobotConfiguration.AddLinearTrackingSystem: Configure a tracking source and use it instead.
IF_RobotConfiguration.AddLinearTrackingSystem2: Configure a tracking source and use it instead.
IF_RobotConfiguration.AddLinearTrackingSystem3: Configure a tracking source and use it instead.
IF_RobotConfiguration.AddRotativeTrackingSystem: Configure a tracking source and use it instead.
IF_RobotConfiguration.SetTrackingStopParameters: Configure the tracking motion parameters for every tracking source with the method IF_TrackingSource.SetMotionParameters.
IF_RobotConfigurationAdvanced.SetTrackingParameters: Configure the tracking parameters for every tracking source with the method IF_TrackingSource.SetOptionalParameters.
IF_RobotMotion.SetMaxAccelerationResultant: Configure the maximum acceleration with the input i_lrMaxAcceleration of the method IF_TrackingSource.SetMotionParameters.

Interface

Input	Data type	Description
i_ifTrackingSource	IF_TrackingSource	Tracking source to be added.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output for 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.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General, library-independent statement on the diagnostic.

A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output for 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.

Return Value

Data type	Description
ET_CoordinateSystem	ID of the configured tracking system.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	AuxiliaryAxisNotConfigured	127	The auxiliary axis is not configured.
ExecutionAborted	ConfigurationAlreadyCompleted	105	The configuration is already completed.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
ExecutionAborted	InvertDirectionXInvalid	154	InvertDirectionX is invalid.
ExecutionAborted	InvertDirectionYInvalid	155	InvertDirectionY is invalid.
ExecutionAborted	InvertDirectionZInvalid	156	InvertDirectionZ is invalid.
ExecutionAborted	NoMoreTrackingSystemsAvailable	166	There are no more tracking systems available.
ExecutionAborted	OffsetInvalid	152	The Offset is invalid.
ExecutionAborted	OrientationInvalid	153	The orientation is invalid.
ExecutionAborted	SystemIdAlreadyConfigured	197	The system ID is already configured.
ExecutionAborted	TrackingSourceAndTrackingSystemNotPossible	249	The combination of tracking source and tracking systems is not possible.
ExecutionAborted	TrackingSourceNotConfigured	247	The tracking source is not configured.
ExecutionAborted	TransformationMissing	113	The transformation is unavailable.
InputParameterInvalid	TrackingSourceInvalid	245	The tracking source is invalid.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	127
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
The configuration of the tracking source was not successful.	The tracking source was configured to track one or more auxiliary axes, but at least one auxiliary axis is not configured for the robot.	Ensure that the components for the robot are configured successfully before adding a tracking source.
		Ensure that only components are enabled for tracking on the tracking source that are available on the configured robot.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	105
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of the tracking source was not successful.	The configuration of the robot is already completed.	Ensure that the method AddTrackingSource is called before the robot configuration with the method IF_RobotConfiguration.ConfigDone(…) is completed.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
The configuration of the tracking source was unsuccessful.	An external position source is configured.	It is not possible to configure a tracking source when the robot is configured to use an external position source.

InvertDirectionXInvalid

Enumeration name:	InvertDirectionXInvalid
Enumeration value:	154
Description:	InvertDirectionX is invalid.

Issue	Cause	Solution
The configuration of the tracking source was unsuccessful.	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the input i_xInvertDirectionX is set to FALSE.

InvertDirectionYInvalid

Enumeration name:	InvertDirectionYInvalid
Enumeration value:	155
Description:	InvertDirectionY is invalid.

Issue	Cause	Solution
The configuration of the tracking source was unsuccessful.	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the input i_xInvertDirectionY is set to FALSE.

InvertDirectionZInvalid

Enumeration name:	InvertDirectionZInvalid
Enumeration value:	156
Description:	InvertDirectionZ is invalid.

Issue	Cause	Solution
The configuration of the tracking source was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the input i_xInvertDirectionZ is set to FALSE.

NoMoreTrackingSystemsAvailable

Enumeration name:	NoMoreTrackingSystemsAvailable
Enumeration value:	166
Description:	There are no more tracking systems available.

Issue	Cause	Solution
The configuration of the tracking source was unsuccessful.	No more tracking systems of the robot can be configured.	The maximum number of configurable tracking systems is Gc_udiMaxNumberOfTrackingSystems.

OffsetInvalid

Enumeration name:	OffsetInvalid
Enumeration value:	152
Description:	The Offset is invalid.

Issue	Cause	Solution
The configuration of the tracking source was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the input i_stOffset.lrZ is set to 0.
	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the input i_stOffset.lrY is set to 0.
	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the input i_stOffset.lrX is set to 0.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the tracking source was successful.

OrientationInvalid

Enumeration name:	OrientationInvalid
Enumeration value:	153
Description:	The orientation is invalid.

Issue	Cause	Solution
The configuration of the tracking source was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the inputs i_stOrientation.lrX and i_stOrientation.lrY are set to 0.
	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the inputs i_stOrientation.lrX and i_stOrientation.lrZ are set to 0.
	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the inputs i_stOrientation.lrY and i_stOrientation.lrZ are set to 0.

SystemIdAlreadyConfigured

Enumeration name:	SystemIdAlreadyConfigured
Enumeration value:	197
Description:	The system ID is already configured.

Issue	Cause	Solution
The configuration of the tracking source was not successful.	A tracking system with the ID of the given tracking source is already configured.	Ensure that each tracking source uses an unique ID.

TrackingSourceAndTrackingSystemNotPossible

Enumeration name:	TrackingSourceAndTrackingSystemNotPossible
Enumeration value:	249
Description:	The combination of tracking source and tracking systems is not possible.

Issue	Cause	Solution
The configuration of the tracking source was not successful.	The combination of tracking source and tracking systems is not possible.	It is not possible to use tracking sources and tracking systems in combination. Ensure that no tracking system was configured for the robot when a tracking source must be used. For linear or rotary tracking, tracking sources must also be used.

Issue

Cause

Solution

The configuration of the tracking source was not successful.

The combination of tracking source and tracking systems is not possible.

It is not possible to use tracking sources and tracking systems in combination.

Ensure that no tracking system was configured for the robot when a tracking source must be used. For linear or rotary tracking, tracking sources must also be used.

TrackingSourceInvalid

Enumeration name:	TrackingSourceInvalid
Enumeration value:	245
Description:	The tracking source is invalid.

Issue	Cause	Solution
The configuration of the tracking source was not successful.	The tracking source transferred at the input i_ifTrackingSource is invalid.	Ensure that a valid tracking source is transferred at the input i_ifTrackingSource. Ensure that the tracking source implements the interface IF_TrackingSource.
The tracking source does not extend FB_TrackingSourceBase.	Ensure that the tracking source extends the FB_TrackingSourceBase.

Issue

Cause

Solution

The configuration of the tracking source was not successful.

The tracking source transferred at the input i_ifTrackingSource is invalid.

Ensure that a valid tracking source is transferred at the input i_ifTrackingSource.

Ensure that the tracking source implements the interface IF_TrackingSource.

The tracking source does not extend FB_TrackingSourceBase.

Ensure that the tracking source extends the FB_TrackingSourceBase.

TrackingSourceNotConfigured

Enumeration name:	TrackingSourceNotConfigured
Enumeration value:	247
Description:	The tracking source is not configured.

Issue	Cause	Solution
The configuration of the tracking source was not successful.	The tracking source is not configured.	Ensure that the tracking source is configured. The coordinate system must be configured, each component needs a set of motion parameters and the method ConfigDone of the tracking source must be called successfully. Only if the property xConfigDone is TRUE, the tracking source can be forwarded to the robot.
The tracking motion parameters are missing for one or more components of the tracking source.
The configuration of the tracking source was not completed.

Issue

Cause

Solution

The configuration of the tracking source was not successful.

The tracking source is not configured.

Ensure that the tracking source is configured.

The coordinate system must be configured, each component needs a set of motion parameters and the method ConfigDone of the tracking source must be called successfully. Only if the property xConfigDone is TRUE, the tracking source can be forwarded to the robot.

The tracking motion parameters are missing for one or more components of the tracking source.

The configuration of the tracking source was not completed.

TransformationMissing

Enumeration name:	TransformationMissing
Enumeration value:	113
Description:	The transformation is unavailable.

Issue	Cause	Solution
The configuration of the tracking source was not successful.	The robot transformation was not configured.	Ensure that the transformation of the robot is configured before adding a tracking source.