IF_EntitiesHandler - AddLinearTrackingSystem (Method)

Overview

Type:	Method
Available as of:	V1.4.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Describe a pairing between a conveyor and a sensor.

Description

The method AddLinearTrackingSystem is used to describe a pairing between a conveyor and a sensor. The result of such pairing is a new tracking system.

Once a conveyor-sensor pairing has been stored with a specific tracking ID, it is not possible to use such ID to store a new pairing since every conveyor-sensor pair must be unequivocally identified by a tracking ID in the system.

Interface

Input	Data type	Description
i_stData	ST_LinearTrackingSystemData	Structure containing the data on the linear tracking system to add.

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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	Ok
ExecutionAborted	MaxNumberOfTrackingSystemsExceeded	146	The maximum number of configurable tracking systems has been reached.
InputParameterInvalid	ConveyorIdUnknown	133	A provided conveyor ID is invalid.
InputParameterInvalid	InterfaceInvalid	122	A provided interface is invalid.
InputParameterInvalid	OrientationConventionInvalid	38	Invalid orientation convention.
InputParameterInvalid	TrackingIdDuplicated	147	A tracking system already exists with the same ID.
InputParameterInvalid	TrackingIdInvalid	104	The tracking ID is invalid.
InputParameterInvalid	TrackingNameInvalid	148	The name assigned to a tracking system is invalid.
InputParameterInvalid	VelocitySourceInvalid	102	The velocity source is invalid.

ConveyorIdUnknown

Enumeration name:	ConveyorIdUnknown
Enumeration value:	133
Description:	A provided conveyor ID is invalid.

Issue	Cause	Solution
A linear tracking system has not been added to the list.	The interface does not contain a configured conveyor with the value provided by i_stData.etConveyorId.	Ensure to provide the ID of a conveyor previously configured with the method AddConveyor.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	122
Description:	A provided interface is invalid.

Issue	Cause	Solution
A linear tracking system has not been added to the list.	i_stData.ifVelocitySource does not contain a valid interface.	Ensure to provide a valid interface.

MaxNumberOfTrackingSystemsExceeded

Enumeration name:	MaxNumberOfTrackingSystemsExceeded
Enumeration value:	146
Description:	The maximum number of configurable tracking systems has been reached.

Issue	Cause	Solution
A linear tracking system has not been added to the list.	It is not possible to add a new tracking system since the maximum number of tracking systems has been reached.	Ensure not to add more than ROB.Gc_udiMaxNumberOfTrackingSystems tracking systems.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

Status message: A linear tracking system has been successfully added to the list.

OrientationConventionInvalid

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

Issue	Cause	Solution
A linear tracking system has not been added to the list.	i_stLinearTrackingSystemData. stConveyorToSensorPose.etOrientationConvention contains an invalid orientation convention 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

A linear tracking system has not been added to the list.

i_stLinearTrackingSystemData. stConveyorToSensorPose.etOrientationConvention contains an invalid orientation convention 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.

TrackingIdDuplicated

Enumeration name:	TrackingIdDuplicated
Enumeration value:	147
Description:	A tracking system already exists with the same ID.

Issue	Cause	Solution
A linear tracking system has not been added to the list.	The interface already contains a tracking system with the same ID.	Ensure that every ID assigned to the tracking systems is unique.

TrackingIdInvalid

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

Issue	Cause	Solution
A linear tracking system has not been added to the list.	i_stData.etTrackingSystemId contains an invalid value.	Ensure that the tracking system ID is in the range ROB.ET_CoordinateSystem.Tracking1...ROB.ET_CoordinateSystem.Tracking30.

TrackingNameInvalid

Enumeration name:	TrackingNameInvalid
Enumeration value:	148
Description:	The name assigned to a tracking system is invalid.

Issue	Cause	Solution
A linear tracking system has not been added to the list.	i_stData.sName contains an empty string or a tracking system with the same has already been	Ensure that the name of the tracking system is not an empty string. Ensure that the name of the tracking system is unique.

VelocitySourceInvalid

Enumeration name:	VelocitySourceInvalid
Enumeration value:	102
Description:	The velocity source is invalid.

Issue	Cause	Solution
A linear tracking system has not been added to the list.	i_stData.ifVelocitySource does not contain a valid velocity source interface.	Ensure that i_stData.ifVelocitySource does not refer to an object of type L_ENC. Ensure that i_stData.ifVelocitySource refers to an object containing the interface SystemConfigurationItf.IF_Master.