IF_Configuration - GetTool (Method)

Overview

Type:	Method
Available as of:	V2.18.3.0

This chapter provides information on:

Reading the parameters of a configured tool.

The method can be used to read the configuration of a selected tool.

Input	Data type	Description
i_udiToolId	UDINT	ID of the tool.

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.
q_stPositionOffset	PDL.ST_Vector3D	Position offset of the tool.
q_stOrientationOffset	PDL.ST_Vector3D	Orientation offset of the tool.
q_etOrientationConvention	ROB.ET_OrientationConvention	Orientation convention of the tool.

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	OK	0	Ok
InputParameterInvalid	ToolIdInvalid	401	The tool ID is invalid.
InputParameterInvalid	ToolNotConfigured	402	The selected tool is not configured.

The tool was configured successfully.

Issue	Cause	Solution
The tool data was not read.	The value provided at the input i_udiToolId is invalid.	Ensure that a valid value is transferred at the input i_udiToolId. Valid values are >0

Issue

Cause

Solution

The tool data was not read.

The value provided at the input i_udiToolId is invalid.

Ensure that a valid value is transferred at the input i_udiToolId.

Valid values are >0

Enumeration name:	ToolNotConfigured
Enumeration value:	402
Description:	The selected tool is not configured.

Issue	Cause	Solution
The tool data was not read.	The tool selected with the input i_udiToolId is not configured.	Ensure that the tool with the tool ID was configured successfully.