VAL_WriteTool
FUNCTION_BLOCK VAL_WriteTool
This function block allows to modify the coordinates of a tool located in a database.
Syntax
Definition:
FUNCTION_BLOCK VAL_WriteTool
VAR_INPUT
Execute : BOOL := FALSE;
UserDatabase : BOOL := FALSE;
ToolIdx : INT := -1;
ToolX : REAL := 0;
ToolY : REAL := 0;
ToolZ : REAL := 0;
ToolRX : REAL := 0;
ToolRY : REAL := 0;
ToolRZ : REAL := 0;
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 |
|
ToolIdx |
INT |
Index of the tool position in the bank |
|
ToolX |
REAL |
Value for X coordinate |
|
ToolY |
REAL |
Value for Y coordinate |
|
ToolZ |
REAL |
Value for Z coordinate |
|
ToolRX |
REAL |
Value for RX coordinate |
|
ToolRY |
REAL |
Value for RY coordinate |
|
ToolRZ |
REAL |
Value for RZ coordinate |
|
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 |