IF_RobotSCARA - CheckPositionInWorkEnvelope (Method)

Overview

Type:	Method
Available as of:	V.2.16.2.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Return Value
Diagnostic Messages

Task

Verify whether a given coordinate is inside the robot work envelope.

Description

The method can be used to verify whether a certain coordinate is within the work envelope of the robot.

Interface

Input	Data type	Description
i_stCoordinate	SE_Math.ST_Vector3D	Coordinate to be verified.
i_stOrientation	SE_Math.ST_Vector3D	Orientation to be verified.
i_etCoordinateSystem	ROB.ET_CoordinateSystem	Coordinatesystem to which the coordinate i_stCoordinate refers. Valid values: ROB.ET_RobotCoordinateSystem.CSR ROB.ET_RobotCoordinateSystem.Mechanic ROB.ET_RobotCoordinateSystem.Tracking1..30
i_etArmConfiguration	ROB.ET_ArmConfiguration	Arm configuration for the coordinate to be verified.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to 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 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

BOOL

TRUE: the coordinate is within the robot work envelope.

FALSE: the coordinate is outside the robot work envelope.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Successful
ExecutionAborted	RobotNotInitialized	89	The robot is not initialized.
InputParameterInvalid	ArmConfigurationInvalid	121	The arm configuration is invalid.
InputParameterInvalid	CoordinateSystemInvalid	119	The coordinate system is invalid.
InputParameterInvalid	CoordinateSystemNotConfigured	120	The coordinate system is not configured.
InputParameterInvalid	OrientationInvalid	122	The orientation is invalid.

ArmConfigurationInvalid

Enumeration name:	ArmConfigurationInvalid
Enumeration value:	121
Description:	The arm configuration is invalid.

Issue	Cause	Solution
Verifying the coordinate was not successful.	The arm configuration transferred on the input i_etArmConfiguration is invalid.	Use only valid values. Valid values are: ET_ArmConfiguration.Left ET_ArmConfiguration.Right For further information, refer to ROB.ET_ArmConfiguration.

Issue

Cause

Solution

Verifying the coordinate was not successful.

The arm configuration transferred on the input i_etArmConfiguration is invalid.

Use only valid values.

Valid values are:

ET_ArmConfiguration.Left
ET_ArmConfiguration.Right

For further information, refer to ROB.ET_ArmConfiguration.

CoordinateSystemInvalid

Enumeration name:	CoordinateSystemInvalid
Enumeration value:	119
Description:	The coordinate system is invalid.

Issue	Cause	Solution
Verifying the coordinate was not successful.	The value ET_CoordinateSystem.None transferred at the input i_etCoordinateSystem is invalid.	Do not use ET_CoordinateSystem.None on the input i_etCoordinateSystem.
An invalid value was transferred at the input i_etCoordinateSystem.	Use only valid values. Valid values: ROB.ET_RobotCoordinateSystem.CSR ROB.ET_RobotCoordinateSystem.Mechanic

Issue

Cause

Solution

Verifying the coordinate was not successful.

The value ET_CoordinateSystem.None transferred at the input i_etCoordinateSystem is invalid.

Do not use ET_CoordinateSystem.None on the input i_etCoordinateSystem.

An invalid value was transferred at the input i_etCoordinateSystem.

Use only valid values.

Valid values:

ROB.ET_RobotCoordinateSystem.CSR
ROB.ET_RobotCoordinateSystem.Mechanic

CoordinateSystemNotConfigured

Enumeration name:	CoordinateSystemNotConfigured
Enumeration value:	120
Description:	The coordinate system is not configured.

Issue	Cause	Solution
The verification if the position was in the work envelope was unsuccessful.	The coordinate system selected on the input i_etCoordinateSystem is not configured.	Configure the selected coordinate system successfully.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Successful

Method was called successfully.

OrientationInvalid

Enumeration name:	OrientationInvalid
Enumeration value:	122
Description:	The orientation is invalid.

Issue	Cause	Solution
Verifying the coordinate was not successful.	The orientation transferred on the input i_stOrientation is invalid.	Make sure that i_stOrientation.X and i_stOrientation.Y are 0.0, as the Lexium SCARA Robot can only have an Z-orientation.

RobotNotInitialized

Enumeration name:	RobotNotInitialized
Enumeration value:	89
Description:	The robot is not initialized.

Issue	Cause	Solution
Verifying the coordinate was not successful.	The robot is not initialized.	Ensure that the robot has been initialized successfully.