IF_RobotMotion - SetCoordinateSystem (Method)

Overview

Type:	Method
Available as of:	V2.11.1.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Setting the next coordinate system in which the robot should move.

Description

After calling this method successfully, the path motion commands, for example IF_RobotMotion.MoveL(...) and IF_RobotMotion.MoveS(...), will interpret the targets in that coordinate system.

The feedback value IF_RobotFeedback.rstLastTarget is also returned in that coordinate system.

If the path motion command following the call of this method initiates a new connected path, the Cartesian start position of that new connected path is shifted to the last target position plus tracking offset position if present.

Interface

Input	Data type	Description
i_etName	ET_CoordinateSystem	Coordinate system to which the robot is supposed to change.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output for 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 additional information on the diagnostic state.
q_xChangeCoordinateSystem	BOOL	TRUE: The coordinate system set is different to the last set coordinate system. Calling the method IF_RobotMotion.ChangeCoordinateSystem2(…) is required to initiate the synchronization phase to a tracking system or de-synchronization phase to the robot coordinate system. FALSE: Calling the method IF_RobotMotion.ChangeCoordinateSystem2(…) is not required.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	CommandRefused	10	The command has been denied.
ExecutionAborted	SetCoordinateSystemInvalid	203	Setting of the coordinate system is invalid.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	CoordinateSystemInvalid	117	The coordinate system is invalid.
InputParameterInvalid	CoordinateSystemNotConfigured	172	The coordinate system is not configured.
UnexpectedProgramBehavior	UnexpectedFeedback	13	A feedback value was invalid.

CommandRefused

Enumeration name:	CommandRefused
Enumeration value:	10
Description:	The command has been denied.

Issue	Cause	Solution
Setting the next coordinate system was not successful.	A command is already being processed. A command, for example MoveL(...), MoveC(...), MoveS(...) or MoveSync(...), is called simultaneously to the call of SetCoordinateSystem(…).	Ensure that commands are not called simultaneously.

CoordinateSystemInvalid

Enumeration name:	CoordinateSystemInvalid
Enumeration value:	117
Description:	The coordinate system is invalid.

Issue	Cause	Solution
Setting the next coordinate system was not successful.	The value transferred at the input i_etName is invalid.	At the input i_etName, a value of ET_CoordinateSystem must be transferred.

CoordinateSystemNotConfigured

Enumeration name:	CoordinateSystemNotConfigured
Enumeration value:	172
Description:	The coordinate system is not configured.

Issue	Cause	Solution
Setting the next coordinate system was not successful.	The requested coordinate system at the input i_etName is not configured.	If required, configure a linear tracking system with the configuration method IF_RobotConfiguration.AddLinearTrackingSystem first.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
Setting the next coordinate system was not successful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Setting the next coordinate system is not possible when an external position source for the robot components is configured. Do not set the next coordinate system.

Issue

Cause

Solution

Setting the next coordinate system was not successful.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

Setting the next coordinate system is not possible when an external position source for the robot components is configured.

Do not set the next coordinate system.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Setting the next coordinate system was successful.

SetCoordinateSystemInvalid

Enumeration name:	SetCoordinateSystemInvalid
Enumeration value:	203
Description:	Setting of the coordinate system is invalid.

Issue	Cause	Solution
Setting the coordinate system was not successful.	IF_RobotMotion.ChangeCoordinateSystem(...) was called but not fully processed.	Ensure that the tracking event for the request to change the coordinate system by IF_RobotMotion.ChangeCoordinateSystem(...) is added before calling IF_RobotMotion.SetCoordinateSystem(...).

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	13
Description:	A feedback value was invalid.

Setting the next coordinate system was not successful.