IF_TrackingSource - ModifyCoordinateSystem (Method)

Overview

Type:	Method
Available as of:	V3.6.5.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Modify the geometrical configuration of the tracking coordinate system.

Description

The method can be used to modify the geometrical configuration of the tracking coordinate system.

Interface

Input	Data type	Description
i_stOffset	SE_Math.ST_Vector3D	Shifting of the origin of the tracking system in relation to the robot coordinate system ET_CoordinateSystem.CSR. Unit: [mm]
i_etOrientationConvention	ET_OrientationConvention	Convention for the rotation angles of the orientation i_stOrientation.
i_stOrientation	SE_Math.ST_Vector3D	Rotation of the tracking system in relation to the robot coordinate system ET_CoordinateSystem.CSR Unit: [°]
i_xInvertDirectionX	BOOL	Inverts the positive X direction of the tracking system.
i_xInvertDirectionY	BOOL	Inverts the positive Y direction of the tracking system.
i_xInvertDirectionZ	BOOL	Inverts the positive Z direction of the tracking system.

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 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.

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 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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	OK	0	Ok
ExecutionAborted	InMotion	52	The robot is in motion.
	CommandsActive	79	There are active commands.
	TrackingActive	175	Tracking is active.
	CoordinateSystemMissing	251	The definition of the coordinate system is missing.
InputParameterInvalid	OffsetInvalid	152	The Offset is invalid.
	OrientationInvalid	153	The orientation is invalid.
	InvertDirectionXInvalid	154	InvertDirectionX is invalid.
	InvertDirectionYInvalid	155	InvertDirectionY is invalid.
	InvertDirectionZInvalid	156	InvertDirectionZ is invalid.
	OrientationConventionInvalid	168	The orientation convention is invalid.

CommandsActive

Enumeration name:	CommandsActive
Enumeration value:	79
Description:	There are active commands.

Issue	Cause	Solution
The modification of the coordinate system was not successful.	There are active move commands.	Ensure that no move commands are active.

CoordinateSystemMissing

Enumeration name:	CoordinateSystemMissing
Enumeration value:	251
Description:	The definition of the coordinate system is missing.

Issue	Cause	Solution
The modification of the coordinate system was not successful.	The method SetCoordinateSystem was not called successfully.	Ensure that the method IF_TrackingSource.SetCoordinateSystem was called successfully before calling IF_TrackingSource.ModifyCoordinateSystem.

InMotion

Enumeration name:	InMotion
Enumeration value:	52
Description:	The robot is in motion.

Issue	Cause	Solution
The modification of the coordinate system was not successful.	A motion is active in the coordinate system that has to be modified.	Do not call IF_TrackingSource.ModifyCoordinateSystem(...) while the robot is in motion.

InvertDirectionXInvalid

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

Issue	Cause	Solution
The modification of the coordinate system was not successful.	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 modification of the coordinate system was not successful.	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 modification of the coordinate system was not successful.	A two-dimensional transformation in the XY plane is configured.	Ensure that the input i_xInvertDirectionZ is set to FALSE.

OffsetInvalid

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

Issue	Cause	Solution
The modification of the coordinate system was not successful.	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 modification of the coordinate system was successful.

OrientationConventionInvalid

Enumeration name:	OrientationConventionInvalid
Enumeration value:	168
Description:	The orientation convention is invalid.

Issue	Cause	Solution
The modification of the coordinate system was not successful.	The value transferred at the input i_etOrientationConvention is invalid.	At the input i_etOrientationConvention, a value of ET_OrientationConvention must be transferred.

OrientationInvalid

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

Issue	Cause	Solution
The modification of the coordinate system was not successful.	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 or +-180.
	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 or +-180.
	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 or +-180.

TrackingActive

Enumeration name:	TrackingActive
Enumeration value:	175
Description:	Tracking is active.

Issue	Cause	Solution
The modification of the coordinate system was not successful.	The robot is still in tracking and not in coordinate system ET_CoordinateSystem.CSR.	Do not call IF_TrackingSource.ModifyCoordinateSystem(...) while the robot is in tracking.