IF_RobotMotion - TransformPose (Method)

Overview

Type:	Method
Available as of:	V3.6.6.0

This chapter provides information on:

Task

Transform a cartesian pose from a combination of a source coordinate system and a tool into a cartesian pose for another combination of target coordinate system and tool.

Description

The method can be used to transform a cartesian pose from a certain combination of coordinate system and tool to the corresponding cartesian pose described by another combination of coordinate system and tool.

In case the input i_udiSourceTool or i_udiTargetTool is zero, the robot flange is used instead of a tool.

All tools and coordinate systems used for the conversion must be configured.

Interface

Input	Data type	Description
i_stPosition	PDL.ST_Vector3D	Cartesian position to be transformed.
i_stOrientation	PDL.ST_Vector3D	Orientation to be transformed.
i_etSourceCoordinateSystem	ET_CoordinateSystem	Source coordinate system.
i_udiSourceToolId	UDINT	ID of the source tool i_udiSourceToolId = 0 uses the robot flange as source. Further valid values are the IDs of the configured tools, refer to the property raudiConfiguredToolIds.
i_etTargetCoordinateSystem	ET_CoordinateSystem	Target coordinate system.
i_udiTargetToolId	UDINT	ID of the target tool i_udiTargetToolId = 0 uses the robot flange as target. Further valid values are the IDs of the configured tools, refer to the property raudiConfiguredToolIds.

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.
q_stPosition	PDL.ST_Vector3D	Resulting position in the target coordinate system.
q_stOrientation	PDL.ST_Vector3D	Resulting orientation in the target coordinate system.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
OK	IdenticalCoordinateSystemAndTool	261	Coordinate system and tool are 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.
InputParameterInvalid	ToolNotConfigured	260	The selected tool is not configured.

CoordinateSystemInvalid

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

Issue	Cause	Solution
The conversion could not be calculated.	The value transferred at the input i_etSourceCoordinateSystem is invalid.	Ensure that a valid value is transferred at the input i_etSourceCoordinateSystem. Valid values are: ET_CoordinateSystem.CSR ET_CoordinateSystem.Mechanic ET_CoordinateSystem.Tracking1 … ET_CoordinateSystem.Tracking30 For further information, refer to ET_CoordinateSystem.
The value transferred at the input i_etTargetCoordinateSystem is invalid.	Ensure that a valid value is transferred at the input i_etTargetCoordinateSystem. Valid values are: ET_CoordinateSystem.CSR ET_CoordinateSystem.Mechanic ET_CoordinateSystem.Tracking1 … ET_CoordinateSystem.Tracking30 For further information, refer to ET_CoordinateSystem.

Issue

Cause

Solution

The conversion could not be calculated.

The value transferred at the input i_etSourceCoordinateSystem is invalid.

Ensure that a valid value is transferred at the input i_etSourceCoordinateSystem.

Valid values are:

ET_CoordinateSystem.CSR
ET_CoordinateSystem.Mechanic
ET_CoordinateSystem.Tracking1
…
ET_CoordinateSystem.Tracking30

For further information, refer to ET_CoordinateSystem.

The value transferred at the input i_etTargetCoordinateSystem is invalid.

Ensure that a valid value is transferred at the input i_etTargetCoordinateSystem.

Valid values are:

ET_CoordinateSystem.CSR
ET_CoordinateSystem.Mechanic
ET_CoordinateSystem.Tracking1
…
ET_CoordinateSystem.Tracking30

For further information, refer to ET_CoordinateSystem.

CoordinateSystemNotConfigured

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

Issue	Cause	Solution
The conversion could not be calculated.	The coordinate system selected on the input i_etSourceCoordinateSystem is not configured.	Ensure that the selected coordinate system was configured successfully.
The conversion could not be calculated.	The coordinate system selected on the input i_etTargetCoordinateSystem is not configured.	Ensure that the selected coordinate system was configured successfully.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	Coordinate system and tool are identical.

Issue	Cause	Solution
The conversion could not be calculated.	An external position source is configured for the robot.	Transforming the coordinates from or into tracking coordinate systems is not possible when an external position source is configured for the robot.

IdenticalCoordinateSystemAndTool

Enumeration name:	IdenticalCoordinateSystemAndTool
Enumeration value:	261
Description:	Coordinate system and tool are 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.

ToolNotConfigured

Enumeration name:	ToolNotConfigured
Enumeration value:	260
Description:	The selected tool is not configured.

Issue	Cause	Solution
The conversion could not be calculated.	The tool selected with the input i_udiSourceToolId is not configured.	Ensure that the tool with the tool Id was configured successfully.
The conversion could not be calculated.	The tool selected with the input i_udiTargetToolId is not configured.	Ensure that the tool with the tool Id was configured successfully.