IF_TeachingOrientation - AddSample (Method)

Overview

Type:

Method

Available as of:

V1.8.0.0

This chapter provides information on:

Task

Adds a new sample to the active set.

Description

With the method AddSample(...), a new sample is added to the active set. Each sample contains the TCP position at a specific target point with reference to the coordinate system of the robot.

NOTE: The active set and the number of samples already stored inside such a set can be read using the properties udiActiveSetIndex and udiNumberOfSamplesInActiveSet.

The following graphic displays an example of the sampling order of the points. In this case, two samples per set are acquired across four different sets, for a total of eight samples.

Access: PUBLIC

Interface

Input

Data type

Description

i_stTCPPosition

SE_MATH.ST_Vector3D

Cartesian position of the TCP referred to the coordinate system of the robot.

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.