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Type: |
Method |
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Available as of: |
V2.12.1.0 |
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Versions: |
Current version |
This chapter provides information on:
This method is used set the optional parameters of a P-Series collision handler. For more details on the optional parameters, refer to ST_CollisionHandlerPSeriesOptionalParameters.
The method can be called multiple times to reconfigure the optional parameters.
The optional parameters influence the next call of the configuration method SetParametersFromRobotPSeries. These parameters are ignored on a call of SetParameters
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Input |
Data type |
Description |
|---|---|---|
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i_stData |
ST_CollisionHandlerPSeriesOptionalParameters |
The optional parameters for the collision handler of a P -Series robot |
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Output |
Data type |
Description |
|---|---|---|
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q_xError |
BOOL |
The output is set to TRUE if an error has been detected during the execution. |
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q_etResult |
ET_Result |
POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message. |
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q_sResultMsg |
STRING[80] |
Event-triggered message that gives additional information on the diagnostic state. |