FB_CollisionHandlerSCARA4Ax - SetParameters (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Sets the parameters.

Description

This method provides a set of parameters that describe a SCARA4Ax robot from both a kinematic and geometric point of view.

NOTE: Calling this method causes a reset of the collision entity managed by the function block that is then reconfigured based on the input parameters.

Interface

The function block implements the IF_CollisionHandlerSCARA4Ax.

Access: PUBLIC

Input	Data type	Description
i_stParameters	ST_SCARA4AxParameters	A kinematic and geometric description for a SCARA4Ax robot.

Output	Data type	Description
q_xError	BOOL	The output is set to TRUE if an error has been detected during the execution.
q_etResult	ET_Result	POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message.
q_sResultMsg	STRING(80)	Event-triggered message that gives additional information on the diagnostic state.

Diagnostic Messages

q_xError	q_etResult	Enumeration value	Description
FALSE	OK	0	Success
TRUE	LinkLengthInvalid	40	The provided link length value is invalid.
TRUE	LinkWidthInvalid	47	The provided link width value is invalid.
TRUE	LinkHeightInvalid	48	The provided link height value is invalid.
TRUE	RadiusRange	5	The provided value for the radius is outside the admissible range.
TRUE	HalfExtentsRange	3	The provided value for the half extents is outside the admissible range.

OK

Enumeration name:	Ok
Enumeration value:	0
Description:	Success

LinkLengthInvalid

Enumeration name:	LinkLengthInvalid
Enumeration value:	40
Description:	The provided link length value is invalid.

Issue	Cause	Solution
Could not set the parameters	At least one of the following conditions has been verified: i_stParameters.stKinematics.lrArmLength ≤ 0 i_stParameters.stKinematics.lrForearmLength ≤ 0	Make sure that all the following conditions are satisfied: i_stParameters.stKinematics.lrArmLength > 0 i_stParameters.stKinematics.lrForearmLength > 0
Could not set the parameters	At least one of the following conditions has been verified: i_stParameters.stGeometry.lrArmLength < 0 i_stParameters.stGeometry.lrForearmLength < 0	Make sure that all the following conditions are satisfied: i_stParameters.stGeometry.lrArmLength ≥ 0 • i_stParameters.stGeometry.lrForearmLength ≥ 0

LinkWidthInvalid

Enumeration name:	LinkWidthInvalid
Enumeration value:	47
Description:	The provided link width value is invalid.

Issue	Cause	Solution
Could not set the parameters	It has been verified that i_stParameters.stGeometry.lrArmWidth ≤ 0	Make sure that i_stParameters.stGeometry.lrArmWidth > 0

LinkHeightInvalid

Enumeration name:	LinkHeightInvalid
Enumeration value:	48
Description:	The provided link height value is invalid.

Issue	Cause	Solution
Could not set the parameters	It has been verified that i_stParameters.stGeometry.lrArmHeight ≤ 0	Make sure that i_stParameters.stGeometry. lrArmHeight > 0

RadiusRange

Enumeration name:	LinkHeightInvalid
Enumeration value:	5
Description:	The provided value for the radius is outside the admissible range.

Issue	Cause	Solution
Could not set the parameters	It has been verified that i_stParameters.stGeometry.lrEndEffectorRadius ≤ 0	Make sure that i_stParameters.stGeometry. lrEndEffectorRadius > 0

HalfExtentsRange

Enumeration name:	HalfExtentsRange
Enumeration value:	3
Description:	The provided value for the half extents is outside the admissible range.

Issue	Cause	Solution
Could not set the parameters	At least one of the following conditions has been verified: i_stParameters.stGeometry.stTCPBoxHalfExtents.lrX ≤ 0.0 i_stParameters.stGeometry.stTCPBoxHalfExtents.lrY ≤ 0.0 i_stParameters.stGeometry.stTCPBoxHalfExtents.lrZ ≤ 0.0	Make sure that all the following conditions are satisfied: i_stParameters.stGeometry.stTCPBoxHalfExtents.lrX > 0.0 i_stParameters.stGeometry.stTCPBoxHalfExtents.lrY > 0.0 i_stParameters.stGeometry.stTCPBoxHalfExtents.lrZ > 0.0