With the method SetOrientationConvention(…), the orientation convention for the robot can be set. The method can only be called during the configuration phase, before the method ConfigDone(...) is called. If not the default convention ZYX is used for the robot.
The set orientation convention is applied to:
The orientation feedback
The orientation inputs of move commands (for example, MoveSync, MoveAsync for components OrientationX...OrientationZ).
The conversion methods TransformOrientation and TransformPose. In this case, the inputs are interpreted in the selected convention and the return values are also provided according to the selected convention.
The active convention is returned by the feedback ROB.IF_RobotFeedback.etOrientationConvention.
If an orientation must be converted from or to the set convention, the function GEM.FC_OrientationToOrientation can be used.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etValue |
Orientation convention for the robot. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
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. |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
Ok |
0 |
Ok |
|
ExecutionAborted |
ConfigurationAlreadyCompleted |
105 |
The configuration is already completed. |
|
InputParameterInvalid |
OrientationConventionInvalid |
168 |
The orientation convention is invalid. |
|
Enumeration name: |
ConfigurationAlreadyCompleted |
|
Enumeration value: |
105 |
|
Description: |
The configuration is already completed. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The orientation convention was not set successfully. |
The method ConfigDone( ) was already called successfully. |
Ensure that the method SetOrientationConvention() is called before the method ConfigDone is called. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
The configuration of the orientation convention was successful.
|
Enumeration name: |
OrientationConventionInvalid |
|
Enumeration value: |
168 |
|
Description: |
The orientation convention is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
The orientation convention was not set successfully. |
The value provided at the input i_etValue is invalid. |
Ensure that a valid value is transferred at the input i_etValue. Valid values are:
For further information, refer to ROB.ET_OrientationConvention. |