VAL_Position
FUNCTION_BLOCK VAL_Position
This function block returns the coordinates of the position in the user frame associated with the destination BankID
Syntax
Definition:
FUNCTION_BLOCK VAL_Position
VAR_INPUT
Execute : BOOL := FALSE;
UserDatabase : BOOL := FALSE;
BankID : INT := -1;
PointIdx : INT := -1;
BankIDDest : INT := -1;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
PositionDest : T_CartesianPos;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
Execute |
BOOL |
Rising edge triggers function execution |
|
UserDatabase |
BOOL |
True=Data of the user database will be used |
|
BankID |
INT |
Number of the bank in which the point is located. |
|
PointIdx |
INT |
Index of the point in the bank |
|
BankIDDest |
INT |
Number of the bank in which the coordinates of the position are calculated |
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 |
|
PositionDest |
New Position in the destination coordsystem |