VAL_ReadJoint

VAL_ReadJoint 1:

FUNCTION_BLOCK VAL_ReadJoint

This function block returns the coordinates of a joint position in the selected database.

Syntax

Definition:

FUNCTION_BLOCK VAL_ReadJoint
VAR_INPUT
    Execute       : BOOL := FALSE;
    UserDatabase  : BOOL := FALSE;
    JointIdx      : INT := -1;
END_VAR
VAR_OUTPUT
    Busy        : BOOL := FALSE;
    Done        : BOOL := FALSE;
    Error       : BOOL := FALSE;
    ErrorID     : UDINT := 0;
    JointValue  : T_JointPos;
END_VAR
VAR_IN_OUT
    AxesGroup  : T_StaeubliRobot;
END_VAR

VAL_ReadJoint 2: Inputs

Name

Type

Description

Execute

BOOL

Rising edge triggers function execution

UserDatabase

BOOL

True=Data of the user database will be used

JointIdx

INT

Index of the joint variable in the bank

VAL_ReadJoint 3: 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

JointValue

T_JointPos

Coordinates of joint position

VAL_ReadJoint 4:/VAL_ReadJoint 5: Inputs/Outputs

Name

Type

Description

AxesGroup

T_StaeubliRobot

Data block for a robot