IF_CollisionHandlerTSeries - SetParallelLinkageParameters (Method)

Overview

Type:

Method

Available as of:

V2.12.1.0

Versions:

Current version

This chapter provides information on:

Task

Set the parameters used to model the parallel linkage.

Description

This method is used set the parallel linkage parameters of a T-Series collision handler. For more details on the optional parameters refer to ST_CollisionHandlerTSeriesParallelLinkageParameters..

NOTE:

  • The method can be called multiple times to reconfigure the parallel parameters.

  • The parallel linkage parameters influence the next call of the configuration method SetParametersFromRobotTSeries. These parameters are ignored on a call of the method SetParameters.

  • If this method is not called, the collision handler initializes the radius of each capsule using the following default values:

    • lrLink1Radius = 20.0 mm (0.78 in.)

    • lrLink2Radius = 30.0 mm (1.18 in.)

    • lrLink3Radius = 20.0 mm (0.78 in.)

Interface

Input

Data type

Description

i_stData

ST_CollisionHandlerTSeriesParallelLinkageParameters

The parallel linkage parameters for the collision handler of a T-Series robot.

Output

Data type

Description

q_xError

BOOL

The output is set to TRUE if an error has been detected during the execution.

q_etResult

ET_Result

POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message.

q_sResultMsg

STRING[80]

Event-triggered message that gives additional information on the diagnostic state.