FB_TeachingFixedSystem - AddSample (Method)

Overview

Type:	Method
Available as of:	V1.8.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Adds a new sample to the active set.

Description

With the method AddSample(...), a sample is added to the active set. The TCP position and the grid reference position are automatically stored by the function block.

The methods Configuration and SetProcedureData must be successfully called before calling this method.

All the coordinates are handled by the function block, but the samples must be acquired in the expected order:

The sets are sorted along the positive X direction.
When moving inside a set, the points are sorted along the positive Y direction.

For example, the first point to acquire is the origin point, then all the remaining points along the positive Y direction must be acquired to complete the set. After that, the first set is completed and the teaching continues with the next set.

There is always a distance of lrXSpacing in the positive X-direction between two sets. Within a set, all samples are spaced by lrYSpacing in the positive Y-direction.

The active set and the number of samples already stored in this set can be read by using the properties udiActiveSetIndex and udiNumberOfSamplesInActiveSet.

Since a fixed set of points is acquired, the estimated orientation approximation to that of the system to be teached depends on the alignment between the coordinate system of the grid and the coordinate system to be teached.

Access: PUBLIC

Interface

Input	Data type	Description
i_lrSampleTolerance	LREAL	Tolerance value used to verify the consistency of the samples. The algorithm verifies whether the distance between the previous and the new sample of the TCP position corresponds to the distance between the samples acquired in the other coordinate system. Default value: 1.0 mm

Input

Data type

Description

i_lrSampleTolerance

LREAL

Tolerance value used to verify the consistency of the samples.

The algorithm verifies whether the distance between the previous and the new sample of the TCP position corresponds to the distance between the samples acquired in the other coordinate system.

Default value: 1.0 mm

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.
q_etResult	ET_Result	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.
q_sResultMsg	STRING[80]	Provides additional information about the current status of the POU.

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.

q_etResult

ET_Result

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.

q_sResultMsg

STRING[80]

Provides additional information about the current status of the POU.

Diagnostic Messages

q_xError	q_etResult	Enumeration value of q_etResult	Description
FALSE	Ok	0	Success.
TRUE	NotConfigured	29	The function block is not configured.
TRUE	MaxNumberOfSetsReached	35	The maximum number of sets is already sampled.
TRUE	ProcedureDataNotSet	57	No data is set for the procedure.
TRUE	SampleToleranceExceeded	43	The last set of provided samples exceeds the sample tolerance value.
TRUE	SampleToleranceRange	42	The provided value for the sample tolerance is out of range.

NotConfigured

Enumeration name:	NotConfigured
Enumeration value:	29
Description:	The function block is not configured.

Issue	Cause	Solution
Not possible to add a new sample.	The function block is not configured.	Ensure that the method Configuration is called successfully before calling this method.

MaxNumberOfSetsReached

Enumeration name:	MaxNumberOfSetsReached
Enumeration value:	35
Description:	The maximum number of sets is already sampled.

Issue	Cause	Solution
Not possible to add a new sample.	The maximum number of sets are already sampled.	Call the RemoveAllSamples method to remove all the stored samples and start a new sampling.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success.

Status message: Adding a new sample to the active set was successful.

ProcedureDataNotSet

Enumeration name:	ProcedureDataNotSet
Enumeration value:	57
Description:	No data is set for the procedure.

Issue	Cause	Solution
Not possible to add a new sample.	The procedure data are not set.	Make a successful call of the method SetProcedureData before calling this method.

SampleToleranceExceeded

Enumeration name:	SampleToleranceExceeded
Enumeration value:	43
Description:	The last set of provided samples exceeds the sample tolerance value.

Issue	Cause	Solution
Not possible to add a new sample.	The distance between the previous and the new TCP position compared with the distance between the previous and new position in the other coordinate system is exceeding the value of i_lrSampleTolerance.	Verify the accuracy of the sampling procedure or increase the value of i_lrSampleTolerance.

SampleToleranceRange

Enumeration name:	SampleToleranceRange
Enumeration value:	42
Description:	The provided value for the sample tolerance is out of range.

Issue	Cause	Solution
Not possible to add a new sample.	The value of i_lrSampleTolerance is either zero or negative.	Verify that i_lrSampleTolerance > 0.0