FB_CollisionHandlerTSeries - SetParametersFromRobotTSeries (Method)

Overview

Type:	Method
Available as of:	V2.12.1.0
Versions:	Current version

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Configure a T-Series collision handler using a configured implementation of IF_RobotTSeries.

Description

This method is used to automatically configure the collision handler of a T-Series robot starting from an initialized implementation of IF_RobotTSeries.

The collision objects within the collision handler are parameterized to fit the modelled mechanical parts. You can set the optional parameter lrCollisionMargin to increase the size of the collision objects before calling this method. For more information, refer to the method SetOptionalParameters.

NOTE:

This method can be called multiple times to reconfigure the collision handler.
On a call of this method, the value of the optional parameters is also taken into account if provided.

Interface

Access: PUBLIC

Input	Data type	Description
i_ifRobotTSeries	IF_RobotTSeries	An initialized implementation of IF_RobotTSeries. If the implementation referred by i_ifRobotTSeries is not successfully configured yet, the method call returns an error.

Output	Data type	Description
q_xError	BOOL	The output is set to TRUE if an error has been detected during the execution.
q_etResult	ET_Result	POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message.
q_sResultMsg	STRING[80]	Event-triggered message that gives additional information on the diagnostic state.

Diagnostic Messages

q_xError	q_etResult	Enumeration value	Description
FALSE	Ok	0	Successful
TRUE	InterfaceInvalid	2	The Interface is invalid.
TRUE	RobotNotInitialized	1	The robot is not initialized.
TRUE	ConfigurationNotSupported	4	The configuration of the robot function block is not supported.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Successful

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	2
Description:	The Interface is invalid.

Issue	Cause	Solution
The collision handler parameters could not be set.	i_ifRobotTSeries has a null interface.	Make sure that i_ifRobotTSeries has a positive or null value.

RobotNotInitialized

Enumeration name:	RobotNotInitialized
Enumeration value:	1
Description:	The robot is not initialized.

Issue	Cause	Solution
The collision handler parameters could not be set.	i_ifRobotTSeries refers to a not initialized implementation of FB_RobotTSeries.	Make sure that i_ifRobotTSeries refers to a successfully initialized implementation of IF_RobotTSeries.

ConfigurationNotSupported

Enumeration name:	ConfigurationNotSupported
Enumeration value:	4
Description:	The configuration of the robot function block is not supported.

Issue	Cause	Solution
The collision handler parameters could not be set.	i_ifRobotTSeries refers to a robot reference that is not supported.	Make sure that i_ifRobotTSeries refers to a supported robot reference.
The collision handler parameters could not be set.	i_ifRobotTSeries refers to a robot configured with a working plane different from ROB.ET_WorkingPlane.XZ.	Make sure that i_ifRobotTSeries refers to a robot configured with a working plane equal to ROB.ET_WorkingPlane.XZ.