FB_TeachingFixedSystem - Configuration (Method)

Overview

Type:	Method
Available as of:	V1.8.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Message

Task

Configures a teaching procedure.

Description

The method Configuration(...) is used to provide a basic configuration of a teaching procedure.

NOTE: By calling this method, all the stored samples are removed. Each procedure may require additional configuration data that are set with the method SetProcedureData. i_ifRobotFeedback and i_ifRobotConfigurationReadOnly must refer to the same robot.

Access: PUBLIC

Interface

Input	Data type	Description
i_stReferenceSystemBasePose	ST_CartesianPose	The cartesian pose of the system used as reference for the teaching. This pose refers either to the robot or to the other system involved in the teaching, as defined by the input i_xIsRobotReferenceSystem.
i_xIsRobotReferenceSystem	BOOL	A procedure is always performed between a robot and another system. TRUE: The input i_stReferenceSystemBasePose is the global pose of the robot and the pose estimated by the procedure is the one of the other system. FALSE: The input i_stReferenceSystemBasePose is the pose of the other system and the pose estimated by the procedure is the one of the robot.
i_ifRobotFeedback	ROB.IF_RobotFeedback	IF_RobotFeedback interface of a robot. Refer to Robotic Library - IF_Feedback.
i_ifRobotConfigurationReadOnly	ROB.IF_RobotConfigurationReadOnly	IF_ConfigurationReadOnly interface of a robot. Refer to Robotic Library - IF_RobotConfigurationReadOnly.

Output	Data type	Description
q_xError	BOOL	TRUE: An error occurred during last command. For more information refer also to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information. If q_xError = FALSE, then q_etResult provides status information. If q_xError = TRUE, then q_etResult provides diagnostic/error information. The enumeration ET_Result contains the possible values of the POU operation results.
q_sResultMsg	STRING[80]	Provides additional information about the current status of the POU.

Output

Data type

Description

q_xError

BOOL

TRUE: An error occurred during last command. For more information refer also to q_etResult and q_sResultMsg.

q_etResult

ET_Result

Provides diagnostic and status information.

If q_xError = FALSE, then q_etResult provides status information.

If q_xError = TRUE, then q_etResult provides diagnostic/error information.

The enumeration ET_Result contains the possible values of the POU operation results.

q_sResultMsg

STRING[80]

Provides additional information about the current status of the POU.

Diagnostic Messages

q_xError	q_etResult	Enumeration value of q_etResult	Description
FALSE	Ok	0	Success.
TRUE	InterfaceInvalid	28	The provided interface value is not valid.
TRUE	OrientationConventionInvalid	39	The provided orientation convention contains an invalid value.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	28
Description:	The provided interface value is not valid.

Issue	Cause	Solution
Configuration of the function block is not possible.	The input i_ifRobotFeedback contains an invalid interface.	Verify that the input i_ifRobotFeedback contains a valid interface.
Configuration of the function block is not possible.	The input i_ifRobotConfigurationReadOnly contains an invalid interface.	Verify that the input i_ifRobotConfigurationReadOnly contains a valid interface.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success.

Status message: Adding a new sample to the active set was successful.

OrientationConventionInvalid

Enumeration name:	OrientationConventionInvalid
Enumeration value:	39
Description:	The provided orientation convention contains an invalid value.

Issue	Cause	Solution
Configuration of the function block is not possible.	The input i_etOrientationConvention contains an invalid orientation convention value.	The input i_etOrientationConvention must contain one of the values of GEM.ET_OrientationConvention and must be different from GEM.ET_OrientationConvention.None.