VAL_WritePoint
FUNCTION_BLOCK VAL_WritePoint
This function block allows to modify the coordinates of a cartesian position located in a database.
Syntax
Definition:
FUNCTION_BLOCK VAL_WritePoint
VAR_INPUT
Execute : BOOL := FALSE;
UserDatabase : BOOL := FALSE;
BankID : INT := -1;
PointIdx : INT := -1;
PointX : REAL := 0;
PointY : REAL := 0;
PointZ : REAL := 0;
PointRX : REAL := 0;
PointRY : REAL := 0;
PointRZ : REAL := 0;
PointCS : UINT := 2;
PointCE : UINT := 2;
PointCW : UINT := 2;
SaveOnDisk : BOOL := TRUE;
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 |
|
BankID |
INT |
Number of the bank in which the point is located. |
|
PointIdx |
INT |
Index of the cartesian point in the bank |
|
PointX |
REAL |
Value for X coordinate |
|
PointY |
REAL |
Value for Y coordinate |
|
PointZ |
REAL |
Value for Z coordinate |
|
PointRX |
REAL |
Value for RX coordinate |
|
PointRY |
REAL |
Value for RY coordinate |
|
PointRZ |
REAL |
Value for RZ coordinate |
|
PointCS |
UINT |
Value for shoulder configuration (1=> sfree; 2=> ssame; 3=> righty; 4=> lefty) |
|
PointCE |
UINT |
Value for elbow configuration (1=> sfree; 2=> ssame; 3=> epositive; 4=> enegative) |
|
PointCW |
UINT |
Value for wrist configuration (1=> sfree; 2=> ssame; 3=> wpositive; 4=> wnegative) |
|
SaveOnDisk |
BOOL |
True=Tool data stored onto the controller's flashdisk. False=Data not stored--> faster FB execution |
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 |