FB_RobotSCARA - CheckPositionInWorkEnvelope (Method)

Overview

Type:	Method
Available as of:	V.2.16.2.0
Versions:	Current version

This chapter provides information on:

Task

Verifies whether a given coordinate is within the robot work envelope.

Description

The method is used to verify whether a certain coordinate is within the work envelope of the robot.

Interface

Input	Data type	Description
i_stCoordinate	SE_Math.ST_Vector3D	Coordinate to be verified.
i_stOrientation	SE_Math.ST_Vector3D	Orientation to be verified.
i_etCoordinateSystem	ROB.ET_CoordinateSystem	Coordinate system to which the coordinate i_stCoordinate refers. Valid values: ROB.ET_RobotCoordinateSystem.CSR ROB.ET_RobotCoordinateSystem.Mechanic ROB.ET_RobotCoordinateSystem.Tracking1..30
i_etArmConfiguration	ROB.ET_ArmConfiguration	Arm configuration for the coordinate to be verified.
i_udiToolId	UDINT	ID of the tool. Valid values are >0.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to 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 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.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Successful
InputParameterInvalid	ArmConfigurationInvalid	121	The arm configuration is invalid.
InputParameterInvalid	CoordinateSystemInvalid	119	The coordinate system is invalid.
InputParameterInvalid	CoordinateSystemNotConfigured	120	The coordinate system is not configured.
InputParameterInvalid	OrientationInvalid	122	The orientation is invalid.
InputParameterInvalid	ToolNotConfigured	132	The tool is not configured.

ArmConfigurationInvalid

Enumeration name:	ArmConfigurationInvalid
Enumeration value:	121
Description:	The arm configuration is invalid.

Issue	Cause	Solution
The verification if the position was in the work envelope was unsuccessful.	The value transferred at the input i_etArmConfiguration is invalid.	At the input i_etArmConfiguration, the value must be ROB.ET_ArmConfiguration.Left or ROB.ET_ArmConfiguration.Right. For further information, refer to ROB.ET_ArmConfiguration.

Issue

Cause

Solution

The verification if the position was in the work envelope was unsuccessful.

The value transferred at the input i_etArmConfiguration is invalid.

At the input i_etArmConfiguration, the value must be ROB.ET_ArmConfiguration.Left or ROB.ET_ArmConfiguration.Right.

For further information, refer to ROB.ET_ArmConfiguration.

CoordinateSystemInvalid

Enumeration name:	CoordinateSystemInvalid
Enumeration value:	119
Description:	The coordinate system is invalid.

Issue	Cause	Solution
The verification if the position was in the work envelope was unsuccessful.	The value transferred at the input i_etCoordinateSystem is invalid.	A valid value must be transferred at the input i_etCoordinateSystem. Valid values are: ROB.ET_CoordinateSystem.CSR ROB.ET_CoordinateSystem.Mechanic ROB.ET_CoordinateSystem.Tracking1 ... 30. For further information, refer to ROB.ET_CoordinateSystem.

Issue

Cause

Solution

The verification if the position was in the work envelope was unsuccessful.

The value transferred at the input i_etCoordinateSystem is invalid.

A valid value must be transferred at the input i_etCoordinateSystem.

Valid values are:

ROB.ET_CoordinateSystem.CSR
ROB.ET_CoordinateSystem.Mechanic
ROB.ET_CoordinateSystem.Tracking1 ... 30.

For further information, refer to ROB.ET_CoordinateSystem.

CoordinateSystemNotConfigured

Enumeration name:	CoordinateSystemNotConfigured
Enumeration value:	120
Description:	The coordinate system is not configured.

Issue	Cause	Solution
The verification if the position was in the work envelope was unsuccessful.	The coordinate system selected at the input i_etCoordinateSystem is not configured.	Configure the selected coordinate system.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Successful

The verification if the position was in the work envelope was successful.

OrientationInvalid

Enumeration name:	OrientationInvalid
Enumeration value:	122
Description:	The orientation is invalid.

Issue	Cause	Solution
The verification if the position was in the work envelope was unsuccessful.	The value transferred at the input i_stOrientation is invalid.	At the input i_stOrientation, the value for lrX and lrY must be equal to 0.0.

ToolNotConfigured

Enumeration name:	ToolNotConfigured
Enumeration value:	132
Description:	The tool is not configured.

Issue	Cause	Solution
The verification if the position was in the work envelope was unsuccessful.	The tool selected with the input i_udiToolId is not configured.	Configure the tool with the tool ID.