FB_TeachingProcedure - AddSample (Abstract Method)

Overview

Type:

Method

Available as of:

V1.8.0.0

This chapter provides information on:

Task

Adds a new sample.

Description

With the method AddSample(...), a new sample for a teaching procedure is acquired.

NOTE: This method is abstract for the base FB_TeachingProcedure implementation, so the description of its behavior, including the diagnostics, is delegated to the specific implementation of the procedures.

Access: PUBLIC

Interface

Input

Data type

Description

i_lrSampleTolerance

LREAL

Tolerance value used to verify the consistency of the samples.

The algorithm verifies whether the distance between the previous and the new sample of the TCP position corresponds to the distance between the samples acquired in the other coordinate system.

Default value: 1.0 mm

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]

Provides additional information about the current status of the POU.