VAL_WriteMdesc
FUNCTION_BLOCK VAL_WriteMdesc
This function block allows to set the properties of a motion descriptor located in a database. The following picture describes the definition of blending distances
Syntax
Definition:
FUNCTION_BLOCK VAL_WriteMdesc
VAR_INPUT
Execute : BOOL := FALSE;
UserDatabase : BOOL := FALSE;
MdescIdx : INT := -1;
Acceleration : INT := 100;
Velocity : INT := 100;
Deceleration : INT := 100;
Tvel : REAL := 99999;
Rvel : REAL := 99999;
BlendLeave : REAL := 10;
BlendReach : REAL := 10;
BlendType : INT := 0;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
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 |
MdescIdx | INT | Index of the motion descriptor in the bank. |
Acceleration | INT | Joint acceleration. Percentage of the nominal acceleration of the robot |
Velocity | INT | Joint velocity. Percentage of the nominal speed of the robot |
Deceleration | INT | Joint deceleration. Percentage of the nominal deceleration of the robot |
Tvel | REAL | Maximum cartesian velocity (mm/sec or inches/sec). Unit depends on settings on robot controller |
Rvel | REAL | Maximum rotational velocity (mm/sec or inches/sec). Unit depends on settings on robot controller |
BlendLeave | REAL | Distance from the destination point at which the nominal trajectory is left |
BlendReach | REAL | Distance from the destination point at which the nominal trajectory is joined again. |
BlendType | INT | 1=Off; 2=Joint; 3=Cartesian |
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 |