IF_TargetsHandler - ConfigurationRotative (Method)

Overview

Type:

Method

Available as of:

V1.6.0.0

This chapter provides information on:

Task

Initiates the evaluation of the value that is used to handle the rollover of the assigned logical encoder.

Description

Configure the function block by linking it to a rotative moving system.

Interface

Input

Data type

Description

i_etTrackingSystemId

ROB.ET_CoordinateSystem

Identifier of the tracking system linked to the targets handler.

Refer to Robotic Library - ET_CoordinateSystem.

i_ifVelocitySource

SystemConfigurationItf.IF_IdentificationMandatory

Velocity source of the system to which the function block is linked.

i_lencEncoder

L_ENC

Logical encoder which is used by the function block to update the position of the targets.

NOTE: Do not configure the position of a logical encoder.

i_etTrackingPlane

ROB.ET_WorkingPlane

Working plane representing the surface plane of the tracking system (for example, the surface of a conveyor).

Valid values are:

  • ET_WorkingPlane.XY

  • ET_WorkingPlane.XZ

  • ET_WorkingPlane.YZ

Refer to Robotic Library - ET_WorkingPlane.

i_xClockWiseRotation

BOOL

TRUE: The positions of the targets will be updated with a clockwise rotation.

FALSE: The positions of the targets will be updated with a counter-clockwise rotation.

i_lrMaxTrackingSystemAngle

LREAL

The maximum position that a target can reach before exiting the system. If i_xAutoRemoveTargets is set to TRUE, a target that exits the system is automatically removed from the list on the next call of the UpdateTargets method.

i_xAutoRemoveTargets

BOOL

TRUE: On a call of UpdateTargets, the targets with an angle greater than i_lrMaxTrackingSystemAngle are automatically removed from the list. FALSE: i_lrMaxTrackingSystemPosition is ignored. You have to remove the targets manually to avoid filling the list.

i_xDisableEncoderCheck

BOOL

TRUE: The parameters of the encoder are not verified.

FALSE: The parameters of the tracking encoder are verified and compared with the velocity source parameters. If the interface SystemConfigurationItf.IF_MechanicMandatory is implemented by the velocity source, the parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are verified against the corresponding parameters of the velocity source. The parameters Enable, PhaseEnable, GearEnable, and EngageEnable are verified. A tracking system can be configured, for example, by IF_RobotConfiguration.AddRotativeTrackingSystem(…).

Refer to Robotic Library - IF_RobotConfiguration.

i_xSetEncoderParameters

BOOL

TRUE: If the interface SystemConfigurationItf.IF_MechanicMandatory is implemented by the velocity source, the parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are set to the parameters of the velocity source during configuration.

The parameters Enable, PhaseEnable, GearEnable, and EngageEnable are set to the required values.

FALSE: If the interface SystemConfigurationItf.IF_MechanicMandatory is implemented by the velocity source, the parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are verified against the corresponding parameters of the velocity source.

The parameters Enable, PhaseEnable, GearEnable, and EngageEnable are verified. A tracking system can be configured, for example, by IF_RobotConfiguration.AddRotativeTrackingSystem (…).

Refer to Robotic Library - IF_RobotConfiguration.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic. A value unequal to ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on 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 of q_etDiagExt

Description

Ok

OK

0

Ok

ConfigurationFailed

AlreadyConfigured

100

The function block is already configured.

InputParameterInvalid

VelocitySourceInvalid

102

The velocity source is invalid.

InputParameterInvalid

EncoderInvalid

103

The logical Encoder is invalid.

InputParameterInvalid

TrackingIdInvalid

104

The tracking ID is invalid.

InputParameterInvalid

TrackingPlaneInvalid

106

The working plane is invalid.

Ok

Enumeration name:

Ok

Enumeration value:

0

Description:

Success

AlreadyConfigured

Enumeration name:

AlreadyConfigured

Enumeration value:

100

Description:

The function block is already configured.

Issue

Cause

Solution

The function block is already configured.

The ConfigurationRotative method has been called after a previous successful call.

Ensure that the ConfigurationRotative method is not called again after the configuration has been completed.

VelocitySourceInvalid

Enumeration name:

VelocitySourceInvalid

Enumeration value:

102

Description:

The velocity source is invalid.

Issue

Cause

Solution

The velocity source is invalid. The targets handler has not been configured

The velocity source provided as the input i_ifVelocitySource is invalid.

  • A valid interface (SystemConfigurationItf.IF_IdentificationMandatory) of a velocity source must be transferred at the input i_ifVelocitySource. Valid objects are, for example, drives, virtual encoders, incremental encoders.

  • Objects of type SystemConfiguration.L_ENC_TYPE are not valid velocity sources.

EncoderInvalid

Enumeration name:

EncoderInvalid

Enumeration value:

103

Description:

The logical Encoder is invalid.

Issue

Cause

Solution

The encoder is invalid The targets handler has not been configured

The type of the object transferred at the input i_lencEncoder is invalid.

At the input i_lencEncoder, an object of type SystemConfiguration.L_ENC_TYPE must be transferred.

The logical encoder transferred at the input i_lencEncoder is already linked to an object.

Do not call the function SystemInterface.FC_SetMasterEncoderr(...) to link the logical encoder to another object.

The logical encoder transferred at the input i_lencEncoder is not enabled.

The value of the parameter Enable of the logical encoder, transferred at the input i_lencEncoder, must be TRUE.

The phase generator of the logical encoder transferred at the input i_lencEncoder is enabled.

The value of the parameter PhaseEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.

The gear of the logical encoder transferred at the input i_lencEncoder is enabled.

The value of the parameter GearEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.

The coupling of the logical encoder transferred at the input i_lencEncoder is enabled.

The value of the parameter EngageEnable of the logical encoder, transferred at the input i_lencEncoder, must be FALSE.

The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter Direction of the logical encoder, transferred at the input i_lencEncoder, does not correspond to the value of the parameter Direction of the velocity source transferred at the input i_ifVelocitySource.

Ensure that both values are equal.

The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter GearOut of the logical encoder, transferred at the input i_lencEncoder, does not correspond to the value of the parameter GearOut of the velocity source transferred at the input i_ifVelocitySource.

Ensure that both values are equal.

The velocity source transferred at the input i_ifVelocitySource implements the interface SystemConfigurationItf.IF_MechanicMandatory. The value of the parameter FeedConstant of the logical encoder, transferred at the input i_lencEncoder, does not correspond to the value of the parameter FeedConstant of the velocity source transferred at the input i_ifVelocitySource.

Ensure that both values are equal.

TrackingIdInvalid

Enumeration name:

TrackingIdInvalid

Enumeration value:

104

Description:

The tracking ID is invalid.

Issue

Cause

Solution

The trackingId is invalid.

The value transferred at the input i_etTrackingSystemId is invalid.

Ensure that the value is within the range [ROB.ET_CoordinateSystem.Tracking1...ROB.ET_CoordinateSystem.Tracking30.]

Refer to Robotic Library - ET_CoordinateSystem.

TrackingPlaneInvalid

Enumeration name:

TrackingPlaneInvalid

Enumeration value:

106

Description:

The working plane is invalid.

Issue

Cause

Solution

The tracking plane is invalid.

The value transferred at the input i_i_etTrackingPlane is invalid.

Ensure that the value is within the range:

  • [ROB.ET_WorkingPlane.XY

    ,

  • ROB.ET_WorkingPlane.XZ

    ,

  • ROB.ET_WorkingPlane.YZ]

Refer to Robotic Library - ET_WorkingPlane.