IF_TrackingSource - ConfigDone (Method)

Overview

Type:

Method

Available as of:

V3.6.5.0

This chapter provides information on:

Task

Verify and complete the configuration of the tracking source.

Description

The method must be used to complete and verify the configuration of the tracking source before it can be handed over to the robot.

After a successful call of the method, the property IF_TrackingSource.xConfigDone is set to TRUE.

Before configuration, the method SetCoordinateSystem must be called successfully. In addition, the motion parameters must be set for all components that have been enabled for tracking. For further information refer to the methods SetMotionParameters and EnableComponent.

To hand the tracking source over to the robot, use the method IF_Configuration.AddTrackingSource.

Interface

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 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

Description

OK

OK

0

Ok

ExecutionAborted

MotionParameterMissing

206

A motion parameter is not available.

CoordinateSystemMissing

251

The definition of the coordinate system is missing.

TrackingSourceInterfaceMissing

246

A tracking source interface is missing.

CoordinateSystemMissing

Enumeration name:

CoordinateSystemMissing

Enumeration value:

251

Description:

The definition of the coordinate system is missing.

Issue

Cause

Solution

The configuration of the tracking source was not successful.

The method SetCoordinateSystem was not called successfully.

Ensure that the method IF_TrackingSource.SetCoordinateSystem is called successfully before calling IF_TrackingSource.ConfigDone.

MotionParameterMissing

Enumeration name:

MotionParameterMissing

Enumeration value:

206

Description:

A motion parameter is not available.

Issue

Cause

Solution

The configuration of the tracking source was not successful.

There are motion parameters missing for the tracking components.

Ensure that the method IF_TrackingSource.SetMotionParameters is called successfully for the component ET_RobotComponent.All or ET_RobotComponent.CartesianAll to set the parameters for the cartesian movement.

Ensure that the method IF_TrackingSource.SetMotionParameters is called successfully for auxiliary axes that are enabled for the tracking source.

Ok

Enumeration name:

Ok

Enumeration value:

0

Description:

Ok

The configuration of the tracking component was successful.

TrackingSourceInterfaceMissing

Enumeration name:

TrackingSourceInterfaceMissing

Enumeration value:

246

Description:

A tracking source interface is missing.

Issue

Cause

Solution

The configuration of the tracking source was not successful.

A tracking source interface is missing.

One of the following components are enabled for tracking:

  • ET_RobotComponent.All

  • ET_RobotComponent.AuxAxAll

  • ET_RobotComponent.AuxAx1..10

Ensure that your tracking source function block implements the interface IF_TrackingSourceAuxAx.