FB_EntitiesHandler - AddTrackingSystem (Method)

Overview

Type:	Method
Available as of:	V1.6.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Add a tracking system to the function block.

Description

The method AddTrackingSystem defines the parameter that can be used to add a tracking system.

NOTE: It is possible to reconfigure an already added tracking system by calling the method again for the same tracking system ID.

Interface

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

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to 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 additional information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	Ok
Ok	TrackingSystemReconfigured	250	The selected tracking system is already added and is reconfigured.
ExecutionAborted	MaxNumberOfTrackingSystemsExceeded	146	The maximum number of configurable tracking systems has been reached.
InputParameterInvalid	TrackingIdInvalid	104	The tracking ID is invalid.
InputParameterInvalid	TrackingIdDuplicated	147	A tracking system already exists with the same ID.
InputParameterInvalid	MovingSystemIdInvalid	246	The moving system id is invalid.
InputParameterInvalid	TargetGeneratorIdInvalid	171	A provided target generator ID is invalid.
InputParameterInvalid	InterfaceInvalid	122	A provided interface is invalid.
InputParameterInvalid	VelocitySourceInvalid	102	The velocity source is invalid.
InputParameterInvalid	TrackingNameInvalid	148	The name assigned to a tracking system is invalid.

InterfaceInvalid

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

Issue	Cause	Solution
A 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 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 30 TrackingSystems.

MovingSystemIdInvalid

Enumeration name:	MovingSystemIdInvalid
Enumeration value:	246
Description:	The moving system id is invalid.

Issue	Cause	Solution
A tracking system has not been added to the list.	i_stData.etMovingSystemId contains an invalid moving system id value.	Valid values are: SERT.ET_SystemEntity.Conveyor1... SERT.ET_SystemEntity.Conveyor30

Issue

Cause

Solution

A tracking system has not been added to the list.

i_stData.etMovingSystemId contains an invalid moving system id value.

Valid values are:

SERT.ET_SystemEntity.Conveyor1...
SERT.ET_SystemEntity.Conveyor30

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

TargetGeneratorIdInvalid

Enumeration name:	TargetGeneratorIdInvalid
Enumeration value:	171
Description:	A provided target generator ID is invalid.

Issue	Cause	Solution
A tracking system has not been added to the list.	i_stData.etTargetGenerator contains an invalid moving system id value.	Valid values are: SERT.ET_SystemEntity.TargetGenerator1... SERT.ET_SystemEntity. TargetGenerator30

Issue

Cause

Solution

A tracking system has not been added to the list.

i_stData.etTargetGenerator contains an invalid moving system id value.

Valid values are:

SERT.ET_SystemEntity.TargetGenerator1...
SERT.ET_SystemEntity. TargetGenerator30

TrackingIdDuplicated

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

Issue	Cause	Solution
A tracking system has not been added to the list.	The function block 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 tracking system has not been added to the list.	i_stData.etTrackingId 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 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 assigned.	Ensure that the name of the tracking system is not an empty string. Ensure that the name of the tracking system is unique.

TrackingSystemReconfigured

Enumeration name:	TrackingSystemReconfigured
Enumeration value:	250
Description:	The selected tracking system is already added and is reconfigured.

Status message: Adding and reconfiguring the selected tracking system was successful.

VelocitySourceInvalid

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

Issue	Cause	Solution
A 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.