IF_Configuration - AdditionalComponentsTransformation (Method)

Overview

Type:	Method
Available as of:	V2.18.3.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Adds an additional transformation which calculates the kinematics for the additional components.

Description

The method can be used to enable additional robot components and forwards a transformation for these components. The additional transformation can only target drives that have been added with the method AddDrive(...).

Only cartesian and orientation components that are not used by the configured main transformation can be enabled with this method.

A function block or an interface to a function block with an implementation of the transformation methods must be forwarded to the input i_ifTransformation.

A combination of a direct mapping (refer to the method MapComponentToDrive) in combination with a transformation is not possible. In case there are components which require a transformation and components with a direct mapping, all components must be handled in the transformation.

For further information, refer to Using ROB.IF_AdditionalComponentsTransformation.

Interface

Input	Data type	Description
i_ifTransformation	ROB.IF_AdditionalComponentsTransformation	Interface with the implementation to calculate the direct and inverse transformation.
i_axEnableCartesian	ARRAY [ET_RobotComponent.CartesianX...ET_RobotComponent.CartesianZ] of BOOL	Enables the respective cartesian component.
i_axEnableOrientation	ARRAY [ET_RobotComponent.OrientationX...ET_RobotComponent.OrientationZ] of BOOL	Enables the respective orientation component.

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 = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message
q_sMsg	STRING[80]	Event-triggered message that gives additional 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 = GD.ET_Diag.Ok -> status message

q_etDiag <> GD.ET_Diag.Ok -> diagnostic message

q_sMsg

STRING[80]

Event-triggered message that gives additional information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ConfigurationAlreadyCompleted	154	The configuration is already completed.
ExecutionAborted	DirectMappingConfigured	398	There is already a direct mapping configured.
ExecutionAborted	TransformationAlreadyConfigured	171	The transformation is already configured.
ExecutionAborted	TransformationMissing	172	The transformation is unavailable.
InputParameterInvalid	AdditionalTransformationInvalid	326	The additional transformation is invalid.
InputParameterInvalid	ComponentAlreadyInUse	396	The selected component is already in use.
InputParameterInvalid	NoAdditionalComponentConfigured	399	There was no additional component enabled.

AdditionalTransformationInvalid

Enumeration name:	AdditionalTransformationInvalid
Enumeration value:	326
Description:	The additional transformation is invalid.

Issue	Cause	Solution
The configuration of additional the components transformation was not successful.	The interface transferred at the input i_ifTransformation is invalid.	Ensure that a valid interface is transferred at the input i_ifTransformation.

ComponentAlreadyInUse

Enumeration name:	ComponentAlreadyInUse
Enumeration value:	396
Description:	The selected component is already in use.

Issue	Cause	Solution
The configuration of the additional components transformation was not successful.	One or more component selected on the inputs i_axEnableCartesian and/or i_axEnableOrientation is already used by the main transformation.	Ensure that only components that are not used by the main transformation are enabled as additional components.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	154
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of the additional components transformation was not successful.	The configuration of the robot was already completed. The method ConfigDone(...) was already called successfully.	Ensure that the method AdditionalComponentsTransformation(…) is called before method ConfigDone(…).

DirectMappingConfigured

Enumeration name:	DirectMappingConfigured
Enumeration value:	398
Description:	There is already a direct mapping configured.

Issue	Cause	Solution
The configuration of the additional components transformation was not successful.	There is already a direct mapping configured for the robot.	It is not possible to mix transformed and direct mapping on a robot. In case both types of mapping must be used on a robot, the direct mapping must be handled within the transformation of the transformed mapping. For further information, refer to Using IF_AdditionalComponentTransformation.

Issue

Cause

Solution

The configuration of the additional components transformation was not successful.

There is already a direct mapping configured for the robot.

It is not possible to mix transformed and direct mapping on a robot. In case both types of mapping must be used on a robot, the direct mapping must be handled within the transformation of the transformed mapping.

For further information, refer to Using IF_AdditionalComponentTransformation.

NoAdditionalComponentConfigured

Enumeration name:	NoAdditionalComponentConfigured
Enumeration value:	399
Description:	There was no additional component enabled.

Issue	Cause	Solution
The configuration of the additional components transformation was not successful.	There was no additional component selected.	Ensure that at least one additional component is enabled by using the inputs i_axEnableCartesian and/or i_axEnableOrientation.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration was successful.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	171
Description:	The transformation is already configured.

Issue	Cause	Solution
The configuration of the additional components transformation was not successful.	The transformation for the additional components was already configured successfully.	Ensure that the method AdditionalComponentsTransformation(…) is only called once.

TransformationMissing

Enumeration name:	TransformationMissing
Enumeration value:	172
Description:	The transformation is unavailable.

Issue	Cause	Solution
The configuration of the additional components transformation was not successful.	There is no transformation configured for the robot.	Ensure that the transformation was configured successfully before the mapping of the additional components.