MC_GroupPower
FUNCTION_BLOCK MC_GroupPower
This function block manages the arm power ON/OFF sequence.Switching arm power ON/OFF is possible only if remote automatic operation mode is selected.The operation mode is selected with the Working Mode Selector box.The arm power ON / arm power OFF sequences on the robot side can take up to 1 second until robot is effectively powered ON/OFF.During that time Enable input and Status output have different values.
- Enable=TRUE : Command to switch robot power ON.
- Enable=FALSE: Command to switch robot power OFF.
 | If an error occurs, the Enable input must go low and high once again to re-execute the function block.However, the pending error(s) must be acknowledged using the MC_GroupReset function block. |
When a user-supplied teach pendant is in use, this function block allows to power ON/OFF the robot in any operation mode.
Syntax
Definition:
FUNCTION_BLOCK MC_GroupPower
VAR_INPUT
Enable : BOOL := FALSE;
END_VAR
VAR_OUTPUT
Status : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
Enable |
BOOL |
TRUE= Command to switch power on ; FALSE= Command to switch power off. |
Outputs
|
Name |
Type |
Description |
|---|---|---|
|
Status |
BOOL |
Effective state of the robot power. |
|
Error |
BOOL |
This output is set when function block has terminated with error |
|
ErrorID |
UDINT |
Error code |