With the method SetTrackingParameters(…), a set of parameters can be applied to a specific tracking system.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etTrackingSystem |
Tracking system for which the parameters should be set. Valid value: Identifier of a configured tracking system. |
|
|
i_stParameters |
Parameters that should be applied to the tracking system transferred at input i_etTrackingSystem. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
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. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Ok |
|
ExecutionAborted |
TrackingSourceConfigured |
393 |
A tracking source is configured for the robot. |
|
InputParameterInvalid |
CoordinateSystemInvalid |
93 |
The coordinate system is invalid. |
|
InputParameterInvalid |
CoordinateSystemNotConfigured |
268 |
The coordinate system is not configured. |
|
InputParameterInvalid |
AccelerationZeroThresholdRange |
372 |
The value of ROB.ST_TrackingParameters.lrAccelerationZeroThreshold is out of range. |
|
UnexpectedProgramBehavior |
UnexpectedFeedback |
28 |
A feedback value was invalid. |
|
Enumeration name: |
AccelerationZeroThresholdRange |
|
Enumeration value: |
372 |
|
Description: |
The value of ROB.ST_TrackingParameters.lrAccelerationZeroThreshold is out of range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Setting the tracking parameters was not successful. |
The value transferred at the input i_stParameters. lrAccelerationZeroThreshold lies outside the valid range. |
At the input i_stParameters. lrAccelerationZeroThreshold, a value greater or equal to 0.0 or equal to -1.0 must be transferred. |
|
Enumeration name: |
CoordinateSystemInvalid |
|
Enumeration value: |
93 |
|
Description: |
The coordinate system is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Setting the tracking parameters was unsuccessful. |
The value transferred at the input i_etTrackingSystem does not represent a tracking system. |
Verify that at the input i_etTrackingSystem a configured tracking system is transferred. |
|
Enumeration name: |
CoordinateSystemNotConfigured |
|
Enumeration value: |
268 |
|
Description: |
The coordinate system is not configured. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Setting the tracking parameters was unsuccessful. |
The value transferred at the input i_etTrackingSystem does not represent a configured tracking system. |
Verify that at the input i_etTrackingSystem a configured tracking system is transferred. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
Setting the tracking parameters was successful.
|
Enumeration name: |
TrackingSourceConfigured |
|
Enumeration value: |
393 |
|
Description: |
A tracking source is configured for the robot. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The call of the method was not successful. |
A tracking source was configured for the robot. |
Tracking parameters must be configured at the tracking source and not directly on the robot. For further information, refer to ROB.IF_TrackingSource. |