FB_EntitiesHandler - CalcRobotPoseInTrackingSystem (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

Task
Description
Interface
Return Value
Diagnostic Messages

Task

Transform a Cartesian pose referred to a robot coordinate system to a Cartesian pose referred to a tracking coordinate system.

Description

The method CalcRobotPoseInTrackingSystem is used to transform a Cartesian pose referred to a robot coordinate system to a Cartesian pose referred to a tracking coordinate system.

Interface

Input	Data type	Description
i_etRobotId	ET_SystemEntity	An ID used to unequivocally identify an entity in the system. Admissible values are in the range ET_SystemEntity.Robot1...ET_SystemEntity.Robot10.
i_stRobotPose	ST_CartesianPose	A Cartesian pose referred to the coordinate system identified by i_etRobotId.
i_etTrackingId	ROB.ET_CoordinateSystem	An ID used to unequivocally identify a tracking coordinate system. Admissible values are in the range ROB.ET_CoordinateSystem.Tracking1...ROB.ET_CoordinateSystem.Tracking30.

Input

Data type

Description

i_etRobotId

ET_SystemEntity

An ID used to unequivocally identify an entity in the system.

Admissible values are in the range ET_SystemEntity.Robot1...ET_SystemEntity.Robot10.

i_stRobotPose

ST_CartesianPose

A Cartesian pose referred to the coordinate system identified by i_etRobotId.

i_etTrackingId

ROB.ET_CoordinateSystem

An ID used to unequivocally identify a tracking coordinate system.

Admissible values are in the range ROB.ET_CoordinateSystem.Tracking1...ROB.ET_CoordinateSystem.Tracking30.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal 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 more detailed information on the diagnostic state.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic. A value unequal 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 more detailed information on the diagnostic state.

Return Value

Data type	Description
ST_CartesianPose	A Cartesian pose describing the pose i_stRobotPose with reference to the coordinate system of the tracking coordinate system identified by i_etTrackingId.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	Ok
InputParameterInvalid	OrientationConventionInvalid	38	Invalid orientation convention.
InputParameterInvalid	RobotIdInvalid	120	A provided robot ID has an invalid value.
InputParameterInvalid	RobotIdUnknown	130	A provided robot ID is invalid.
InputParameterInvalid	TrackingIdInvalid	104	The tracking ID is invalid.
InputParameterInvalid	TrackingIdUnknown	131	A provided tracking ID is invalid.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

Status message: The Cartesian pose has been evaluated successfully.

OrientationConventionInvalid

Enumeration name:	OrientationConventionInvalid
Enumeration value:	38
Description:	Invalid orientation convention.

Issue	Cause	Solution
The relative pose has not been successfully evaluated.	i_stRobotPose.etOrientationConvention contains an invalid value.	Ensure that the orientation convention has one of the following values: ROB.ET_OrientationConvention.XYZ ROB.ET_OrientationConvention.ZYX Refer to Robotic Library - ET_OrientationConvention.

Issue

Cause

Solution

The relative pose has not been successfully evaluated.

i_stRobotPose.etOrientationConvention contains an invalid value.

Ensure that the orientation convention has one of the following values:

ROB.ET_OrientationConvention.XYZ
ROB.ET_OrientationConvention.ZYX

Refer to Robotic Library - ET_OrientationConvention.

RobotIdInvalid

Enumeration name:	RobotIdInvalid
Enumeration value:	120
Description:	A provided robot ID has an invalid value.

Issue	Cause	Solution
The Cartesian pose has not been evaluated successfully.	i_etRobotId contains an invalid entity ID.	Ensure that the value of i_etRobotId refers to an entity ID in the range ET_SystemEntity.Robot1...ET_SystemEntity.Robot10.

RobotIdUnknown

Enumeration name:	RobotIdUnknown
Enumeration value:	130
Description:	A provided robot ID is invalid.

Issue	Cause	Solution
The Cartesian pose has not been evaluated successfully.	i_etRobotId contains an indeterminable robot system ID.	Ensure that the value of i_etRobotId refers to a previously configured robot.

TrackingIdInvalid

Enumeration name:	TrackingIdInvalid
Enumeration value:	104
Description:	The tracking ID is invalid.

Issue	Cause	Solution
The Cartesian pose has not been evaluated successfully.	i_etTrackingId contains an invalid tracking ID.	Ensure that the value of i_etTrackingId refers to an entity ID in the range ROB.ET_CoordinateSystem.Tracking1...ROB.ET_CoordinateSystem.Tracking30.

TrackingIdUnknown

Enumeration name:	TrackingIdUnknown
Enumeration value:	131
Description:	A provided tracking ID is invalid.

Issue	Cause	Solution
The Cartesian pose has not been evaluated successfully.	i_etTrackingId refers to an indeterminable tracking system.	Ensure that a tracking system with ID i_etTrackingId has been already configured before calling this method.