VAL_ReadTool
The function block VAL_ReadTool returns the coordinates of a Tool Center Point located in a database.
Syntax
Definition:
FUNCTION_BLOCK VAL_ReadTool
VAR_INPUT
Execute : BOOL := FALSE;
UserDatabase : BOOL := FALSE;
ToolIdx : INT := -1;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
ToolValue : T_Trsf;
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 |
ToolIdx | INT | Index of the Tool in the bank of tool located in the database |
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 |
ToolValue | Coordinates of the requested Tool |