IF_RobotConfigurationAdvanced - ModifyCoordinateSystem2 (Method)

Overview

Type:	Method
Available as of:	V1.6.0.0

This chapter provides information on:

oTask

oDescription

oInterface

oDiagnostic Messages

Task

Modifying a coordinate system of the robot.

Description

With the method ModifyCoordinateSystem2(…), a coordinate system of the robot can be modified.

In this example, the orientation convention is ET_OrientationConvention.XYZ.

Execution sequence of the shift and rotation of the coordinate system CS0:

1 Shifting the coordinate system CS0 with the offsets X, Y, Z. This creates the coordinate system CS1.

2 Rotation of the coordinate system CS1 around its X axis. This creates the coordinate system CS2.

3 Rotation of the coordinate system CS2 around its Y axis.This creates the coordinate system CS3.

4 Rotation of the coordinate system CS3 around its Z axis.This creates the coordinate system CS4.

The coordinate system CS4 corresponds to the shifted and rotated coordinate system.

By setting the inputs i_xInvertDirectionX, i_xInvertDirectionY or i_xInvertDirectionZ to TRUE, the positive cartesian directions of the coordinate system CS4 can be inverted.

Interface

Input	Data type	Description
i_etName	ET_CoordinateSystem	Name of the coordinate system that has to be modified. Valid values are: oET_CoordinateSystem.CSR oET_CoordinateSystem.Tracking1 oET_CoordinateSystem.Tracking2 oET_CoordinateSystem.Tracking3 oET_CoordinateSystem.Tracking4 oET_CoordinateSystem.Tracking5 oET_CoordinateSystem.Tracking6 oET_CoordinateSystem.Tracking7 oET_CoordinateSystem.Tracking8 oET_CoordinateSystem.Tracking9 oET_CoordinateSystem.Tracking10 For further information, refer to ET_CoordinateSystem.
i_stOffset	PDL.ST_Vector3D	Describes the shifting of the coordinate system in relation to the world coordinate system. Unit: [mm]
i_etOrientationConvention	ET_OrientationConvention	Convention for the rotation angles of the orientation i_stOrientation.
i_stOrientation	PDL.ST_Vector3D	Describes the rotation of the coordinate system in relation to the world coordinate system. Unit: [°]
i_xInvertDirectionX	BOOL	Invert the positive X direction of the coordinate system.
i_xInvertDirectionY	BOOL	Invert the positive Y direction of the coordinate system.
i_xInvertDirectionZ	BOOL	Invert the positive Z direction of the coordinate system.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to GD.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.
q_stDirectionEx	PDL.ST_Vector3D	Direction vector of the positive cartesian X axis of the linear tracking system in robot coordinate system ET_CoordinateSystem.CSR.
q_stDirectionEy	PDL.ST_Vector3D	Direction vector of the positive cartesian Y axis of the linear tracking system in robot coordinate system ET_CoordinateSystem.CSR.
q_stDirectionEz	PDL.ST_Vector3D	Direction vector of the positive cartesian Z axis of the linear tracking system in robot coordinate system ET_CoordinateSystem.CSR.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	CommandsActive	79	There are active commands.
ExecutionAborted	InMotion	52	The robot is in motion.
ExecutionAborted	TrackingActive	175	Tracking is active.
ExecutionAborted	TransformationMissing	113	The transformation is unavailable.
ExecutionAborted	ExternalPositionSourceConfigured	205	The external position source is configured.
InputParameterInvalid	CoordinateSystemInvalid	117	The coordinate system is invalid.
InputParameterInvalid	CoordinateSystemNotConfigured	172	The coordinate system is not configured.
InputParameterInvalid	InvertDirectionXInvalid	154	InvertDirectionX is invalid.
InputParameterInvalid	InvertDirectionYInvalid	155	InvertDirectionY is invalid.
InputParameterInvalid	InvertDirectionZInvalid	156	InvertDirectionZ is invalid.
InputParameterInvalid	OffsetInvalid	152	The Offset is invalid.
InputParameterInvalid	OrientationConventionInvalid	168	The orientation convention is invalid.
InputParameterInvalid	OrientationInvalid	153	The orientation is invalid.
UnexpectedProgramBehavior	UnexpectedFeedback	13	A feedback value was invalid.

CommandsActive

Enumeration name:	CommandsActive
Enumeration value:	79
Description:	There are active commands.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	There are still active move commands.	Ensure that no more move commands are active.

CoordinateSystemInvalid

Enumeration name:	CoordinateSystemInvalid
Enumeration value:	117
Description:	The coordinate system is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	The value transferred at the input i_etName is invalid.	At the input i_etName, a value of ET_CoordinateSystem must be transferred.

CoordinateSystemNotConfigured

Enumeration name:	CoordinateSystemNotConfigured
Enumeration value:	172
Description:	The coordinate system is not configured.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	The requested coordinate system at the input i_etName is not configured.	If required, configure a coordinate system first. Use the configuration method IF_RobotConfiguration.AddLinearTrackingSystem to configure a linear tracking system.

Issue

Cause

Solution

The modification of a coordinate system of the robot was unsuccessful.

The requested coordinate system at the input i_etName is not configured.

If required, configure a coordinate system first.

Use the configuration method IF_RobotConfiguration.AddLinearTrackingSystem to configure a linear tracking system.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	The modification of a tracking coordinate system of the robot is not possible when an external position source for the robot components is configured. Do not modify a tracking coordinate system of the robot.

Issue

Cause

Solution

The modification of a coordinate system of the robot was unsuccessful.

An external position source for the robot components cartesian, orientation and auxiliary axes is configured.

The modification of a tracking coordinate system of the robot is not possible when an external position source for the robot components is configured.

Do not modify a tracking coordinate system of the robot.

InMotion

Enumeration name:	InMotion
Enumeration value:	52
Description:	The robot is in motion.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A motion is active in the coordinate system that has to be modified.	Do not call ModifyCoordinateSystem2(...) while the robot is in motion.

InvertDirectionXInvalid

Enumeration name:	InvertDirectionXInvalid
Enumeration value:	154
Description:	InvertDirectionX is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the input i_xInvertDirectionX is set to FALSE.

InvertDirectionYInvalid

Enumeration name:	InvertDirectionYInvalid
Enumeration value:	155
Description:	InvertDirectionY is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the input i_xInvertDirectionY is set to FALSE.

InvertDirectionZInvalid

Enumeration name:	InvertDirectionZInvalid
Enumeration value:	156
Description:	InvertDirectionZ is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the input i_xInvertDirectionZ is set to FALSE.

OffsetInvalid

Enumeration name:	OffsetInvalid
Enumeration value:	152
Description:	The Offset is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the input i_stOffset.lrZ is set to 0.
	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the input i_stOffset.lrY is set to 0.
	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the input i_stOffset.lrX is set to 0.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The modification of a coordinate system of the robot was successful.

OrientationConventionInvalid

Enumeration name:	OrientationConventionInvalid
Enumeration value:	168
Description:	The orientation convention is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	The value transferred at the input i_etOrientationConvention is invalid.	At the input i_etOrientationConvention, a value of ET_OrientationConvention must be transferred.

OrientationInvalid

Enumeration name:	OrientationInvalid
Enumeration value:	153
Description:	The orientation is invalid.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	A two-dimensional transformation, in the XY plane, is configured.	Ensure that the inputs i_stOrientation.lrX and i_stOrientation.lrY are set to 0.
	A two-dimensional transformation, in the XZ plane, is configured.	Ensure that the inputs i_stOrientation.lrX and i_stOrientation.lrZ are set to 0.
	A two-dimensional transformation, in the YZ plane, is configured.	Ensure that the inputs i_stOrientation.lrY and i_stOrientation.lrZ are set to 0.

TrackingActive

Enumeration name:	TrackingActive
Enumeration value:	175
Description:	Tracking is active.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	The robot is still in tracking and not in coordinate system ET_CoordinateSystem.CSR.	Do not call ModifyCoordinateSystem2(...) while the robot is in tracking.

TransformationMissing

Enumeration name:	TransformationMissing
Enumeration value:	113
Description:	The transformation is unavailable.

Issue	Cause	Solution
The modification of a coordinate system of the robot was unsuccessful.	There is no transformation of the robot configured.	Ensure that the transformation of the robot is configured before modifying the coordinate system.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	13
Description:	A feedback value was invalid.

The modification of a coordinate system of the robot was unsuccessful.

The modification of the coordinate system was aborted because of an invalid feedback value.