IF_Configuration - ConfigureTool (Method)

Overview

Type:	Method
Available as of:	V2.18.3.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Creates or modifies a tool in the robot configuration.

Description

The method can be used to create or modify a tool in the robot configuration. The tool is described by an ID and its position and orientation offsets. The ID can be any UDINT except zero, as zero is reserved for the robot flange. The offsets for position and orientation refer to the CSR. If the method is called with a tool ID that was not configured yet, the tool is created and q_etDiagExt returns ToolConfigured. If the method is called with a tool ID that already exists, the offsets of this tool are overwritten and q_etDiagExt returns ToolModified. A modification of a tool can only be made when the tool is not active.

In case more than ten tools per robot are necessary for the application, the parameter Gc_udiMaxNumberOfTools in the global parameter list (GPL) of the robotic library must be adjusted.

Interface

Input	Data type	Description
i_udiToolId	UDINT	ID of the tool. Valid values are >0
i_stPositionOffset	PDL.ST_Vector3D	Position offset of the tool.
i_stOrientationOffset	PDL.ST_Vector3D	Orientation offset of the tool.
i_etOrientationConvention	ROB.ET_OrientationConvention	Orientation convention of the tool. Valid values are: ET_OrientationConvention.XYZ ET_OrientationConvention.ZYX ET_OrientationConvention.ZXY For further information, refer to ROB.ET_OrientationConvention

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	ToolConfigured	404	The tool was created.
OK	ToolModified	405	The tool was modified.
ExecutionAborted	ExternalPositionSourceConfigured	357	The external position source is configured.
ExecutionAborted	NoMoreToolsAvailable	407	No more tools can be configured.
ExecutionAborted	ToolActive	406	The tool is active.
InputParameterInvalid	ToolIdInvalid	401	The tool ID is invalid.
InputParameterInvalid	OrientationConventionInvalid	266	The orientation convention is invalid.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	357
Description:	The external position source is configured.

Issue	Cause	Solution
The tool was not configured.	An external position source is configured.	It is not possible to configure tools when the robot is configured to use an external position source.

NoMoreToolsAvailable

Enumeration name:	NoMoreToolsAvailable
Enumeration value:	407
Description:	No more tools can be configured.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	No more tools can be configured.	The number of tools that can be configured is defined in the global parameter Gc_udiMaxNumberOfTools. Increase this parameter.

OrientationConventionInvalid

Enumeration name:	OrientationConventionInvalid
Enumeration value:	266
Description:	The orientation convention is invalid.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	The orientation convention transferred at the input i_etOrientationConvention is invalid.	Ensure that a valid orientation convention is transferred at the input i_etOrientationConvention. Valid values are: ET_OrientationConvention.XYZ ET_OrientationConvention.ZYX ET_OrientationConvention.ZXY For further information, refer to ROB.ET_OrientationConvention

Issue

Cause

Solution

The configuration of the robot was unsuccessful.

The orientation convention transferred at the input i_etOrientationConvention is invalid.

Ensure that a valid orientation convention is transferred at the input i_etOrientationConvention.

Valid values are:

ET_OrientationConvention.XYZ
ET_OrientationConvention.ZYX
ET_OrientationConvention.ZXY

For further information, refer to ROB.ET_OrientationConvention

ToolActive

Enumeration name:	ToolActive
Enumeration value:	406
Description:	The tool is active.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	The tool is active and cannot be modified.	It is not possible to modify a tool which is active. Switch to another tool or the robot flange before calling ConfigureTool(…).

ToolConfigured

Enumeration name:	ToolConfigured
Enumeration value:	404
Description:	The tool was created.

The creation of the tool was successful.

ToolIdInvalid

Enumeration name:	ToolIdInvalid
Enumeration value:	401
Description:	The tool ID is invalid.

Issue	Cause	Solution
The configuration of the robot was unsuccessful.	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 configuration of the robot was unsuccessful.

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

ToolModified

Enumeration name:	ToolModified
Enumeration value:	405
Description:	The tool was created.

The creation of the tool was successful.