IF_RobotMotion - TransformCoordinate (Method)

Overview

Type:	Method
Available as of:	V2.3.1.0

This chapter provides information on:

Task
Description
Interface
Return Value
Diagnostic Messages

Task

Transform a position from a source coordinate system into a target coordinate system

Description

With the method TransformCoordinate(...) a position, described by the Cartesian X, Y and Z coordinates in a predefined coordinate system, can be transformed into the corresponding position, described in another coordinate system.

A successful call generates an application logger entry with LogLevel.UserAction. It includes the inputs as well as the result of the transformation.

In case the transformation was not successful, an application logger entry with LogLevel.Exception and a corresponding error string is created.

Interface

Input	Data type	Description
i_stPosition	PDL.ST_Vector3D	Cartesian position described in the source coordinate system passed at input i_etCoordinateSystem.
i_etSourceCoordinateSystem	ET_CoordinateSystem	Source coordinate system
i_etTargetCoordinateSystem	ET_CoordinateSystem	Target coordinate system

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.

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.

Return Value

Data type	Description
PDL.ST_Vector3D	Transformed position described in the target coordinate system.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
OK	IdenticalCoordinateSystem	183	The coordinate system is identical.
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.

CoordinateSystemInvalid

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

Issue	Cause	Solution
Transforming the coordinates was not successful.	The value transferred at the input i_etSourceCoordinateSystem or i_etTargetCoordinateSystem is invalid.	At the inputs i_etSourceCoordinateSystem, and i_etTargetCoordinateSystem, a value of ET_CoordinateSystem must be transferred. Refer to q_sMsg for detailed information.

Issue

Cause

Solution

Transforming the coordinates was not successful.

The value transferred at the input i_etSourceCoordinateSystem or i_etTargetCoordinateSystem is invalid.

At the inputs i_etSourceCoordinateSystem, and i_etTargetCoordinateSystem, a value of ET_CoordinateSystem must be transferred.

Refer to q_sMsg for detailed information.

CoordinateSystemNotConfigured

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

Issue	Cause	Solution
Transforming the coordinates was not successful.	The requested coordinate system at the input i_etSourceCoordinateSystem or i_etTargetCoordinateSystem is not configured.	If required, configure a coordinate system of type ET_CoordinateSystem using the corresponding method. Refer to q_sMsg for detailed information.

Issue

Cause

Solution

Transforming the coordinates was not successful.

The requested coordinate system at the input i_etSourceCoordinateSystem or i_etTargetCoordinateSystem is not configured.

If required, configure a coordinate system of type ET_CoordinateSystem using the corresponding method.

Refer to q_sMsg for detailed information.

ExternalPositionSourceConfigured

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

Issue	Cause	Solution
Transforming the coordinates was not successful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Transforming the coordinates from or into tracking coordinate systems is not possible when an external position source for the robot components is configured.

IdenticalCoordinateSystem

Enumeration name:	IdenticalCoordinateSystem
Enumeration value:	183
Description:	The coordinate system is identical.

The transformation was successful. The result of the transformation is equal to its input.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The transformation was successful.

UnexpectedFeedback

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

Transforming the coordinates was not successful.

The transformation was aborted because of an invalid feedback value.