The method Configuration(...) is used to provide a basic configuration of a teaching procedure.
Access: PUBLIC
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Input |
Data type |
Description |
|---|---|---|
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i_stReferenceSystemBasePose |
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. |
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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. |
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i_ifRobotFeedback |
ROB.IF_RobotFeedback |
IF_RobotFeedback interface of a robot. Refer to Robotic Library - IF_Feedback. |
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i_ifRobotConfigurationReadOnly |
ROB.IF_RobotConfigurationReadOnly |
IF_ConfigurationReadOnly interface of a robot. |
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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. |
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q_etResult |
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. |
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q_sResultMsg |
STRING[80] |
Provides additional information about the current status of the POU. |