FB_TransferData
FUNCTION_BLOCK FB_TransferData
This function block manages the communication with uniVAL plc server installed on the robot side
Syntax
Definition:
FUNCTION_BLOCK FB_TransferData
VAR_INPUT
Execute : BOOL := FALSE;
ServerID : UINT := 0;
FunctionCode : UINT := 0;
iBitParam : ARRAY [0..GV.uiBITPARAM_MAX_OUT] OF BOOL;
iWordParam : ARRAY [0..GV.uiWORDPARAM_MAX_OUT] OF INT;
iFloatParam : ARRAY [0..GV.uiFLOATPARAM_MAX_OUT] OF REAL;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
oBitParam : ARRAY [0..GV.uiBITPARAM_MAX_IN] OF BOOL;
oWordParam : ARRAY [0..GV.uiWORDPARAM_MAX_IN] OF INT;
oFloatParam : ARRAY [0..GV.uiFLOATPARAM_MAX_IN] OF REAL;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
Execute |
BOOL |
Rising edge starts function execution |
|
ServerID |
UINT |
Number of the server to address |
|
FunctionCode |
UINT |
Code of the function to address |
|
iBitParam |
ARRAY [0..GV.uiBITPARAM_MAX_OUT] OF BOOL | |
|
iWordParam |
ARRAY [0..GV.uiWORDPARAM_MAX_OUT] OF INT | |
|
iFloatParam |
ARRAY [0..GV.uiFLOATPARAM_MAX_OUT] OF REAL |
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 |
|
oBitParam |
ARRAY [0..GV.uiBITPARAM_MAX_IN] OF BOOL | |
|
oWordParam |
ARRAY [0..GV.uiWORDPARAM_MAX_IN] OF INT | |
|
oFloatParam |
ARRAY [0..GV.uiFLOATPARAM_MAX_IN] OF REAL |