VAL_Movec
FUNCTION_BLOCK VAL_Movec
This function commands a circular interpolated movement to a point located inside a database on robot side.
Syntax
Definition:
FUNCTION_BLOCK VAL_Movec
VAR_INPUT
Execute : BOOL := FALSE;
UserDatabase : BOOL := FALSE;
EnableBlending : BOOL := FALSE;
BankID : INT := -1;
IntermediatePointIdx : INT := -1;
TargetPointIdx : INT := -1;
ToolIdx : INT := -1;
MdescIdx : INT := -1;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
MovementID : INT := -1;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
Execute |
BOOL |
// Rising edge starts function execution |
|
UserDatabase |
BOOL |
True=Data of the user database will be used |
|
EnableBlending |
BOOL |
True=use blending parameter of motion descriptor; False= robot stops at destination. |
|
BankID |
INT |
Number of the bank in which the point is located. Relevant only when moving on Cartesian position |
|
IntermediatePointIdx |
INT |
Intermediate point passing during the movement |
|
TargetPointIdx |
INT |
Target point of the circle |
|
ToolIdx |
INT |
Index of the tool position in the bank |
|
MdescIdx |
INT |
Index of the motion descriptor in the bank. |
Outputs
|
Name |
Type |
Description |
|---|---|---|
|
Busy |
BOOL |
Set when function block is executing. Reset when Done or Error is set |
|
Done |
BOOL |
This output is set when function block has terminated with success |
|
Error |
BOOL |
This output is set when function block has terminated with error |
|
ErrorID |
UDINT |
Error code |
|
MovementID |
INT |
Identifier for this commanded movement |