FB_TeachingCartesianPose - SetNumberOfSamplesPerSet (Method)

Overview

Type:	Method
Available as of:	V1.8.0.0

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages

Task

Sets how many samples must be stored inside a set.

Description

With the method SetNumberOfSamplesPerSet(...), each set of samples with a predefined number of samples is configured. Each set must contain at least two samples, so this is the minimum value that can be set.

NOTE: After a successful call of this method, the function block expects a number of AddSample calls per set that corresponds to the configured number of samples per set. When the required number of samples is added for the active set, the function block automatically selects a new set.

NOTE: When this method is called, the saved samples are removed.

Access: PUBLIC

Interface

Input	Data type	Description
i_udiValue	UDINT	Number of samples per set.

Output	Data type	Description
q_xError	BOOL	TRUE: An error occurred during last command. For more information refer also to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information. If q_xError = FALSE, then q_etResult provides status information. If q_xError = TRUE, then q_etResult provides diagnostic/error information. The enumeration ET_Result contains the possible values of the POU operation results.
q_sResultMsg	STRING[80]	Event-triggered message that gives more detailed information on the diagnostic state.

Output

Data type

Description

q_xError

BOOL

TRUE: An error occurred during last command. For more information refer also to q_etResult and q_sResultMsg.

q_etResult

ET_Result

Provides diagnostic and status information.

If q_xError = FALSE, then q_etResult provides status information.

If q_xError = TRUE, then q_etResult provides diagnostic/error information.

The enumeration ET_Result contains the possible values of the POU operation results.

q_sResultMsg

STRING[80]

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

Diagnostic Messages

q_xError	q_etResult	Enumeration value of q_etResult	Description
FALSE	Ok	0	Success.
TRUE	NumberOfSamplesInvalid	40	Not enough samples to evaluate a cartesian pose.
TRUE	SamplesAlreadyAdded	47	One or more samples are already added.

NumberOfSamplesInvalid

Enumeration name:	NumberOfSamplesInvalid
Enumeration value:	40
Description:	Not enough samples to evaluate a cartesian pose.

Issue	Cause	Solution
Not possible to set the number of samples for the set.	A value i_udiValue < 2 was provided.	Verify that i_udiValue >= 2.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Success.

Status message: Removing the stored samples was successful.

SamplesAlreadyAdded

Enumeration name:	SamplesAlreadyAdded
Enumeration value:	47
Description:	One or more samples are already added.

Issue	Cause	Solution
Not possible to set the number of samples for the set.	One or more samples are already added.	Call the RemoveAllSamples method to clean the samples before calling the method SetNumberOfSamplesPerSet.