VAL_ReadWriteArmIO
FUNCTION_BLOCK VAL_ReadWriteArmIO
Syntax
Definition:
FUNCTION_BLOCK VAL_ReadWriteArmIO
VAR_INPUT
Enable : BOOL := FALSE;
Dout0 : BOOL := FALSE;
Dout1 : BOOL := FALSE;
Dout2 : BOOL := FALSE;
Dout3 : BOOL := FALSE;
Dout4 : BOOL := FALSE;
Dout5 : BOOL := FALSE;
Dout6 : BOOL := FALSE;
Dout7 : BOOL := FALSE;
Aout0 : INT := 0;
Aout1 : INT := 0;
Aout2 : INT := 0;
Aout3 : INT := 0;
END_VAR
VAR_OUTPUT
Valid : BOOL := FALSE;
Din0 : BOOL := FALSE;
Din1 : BOOL := FALSE;
Din2 : BOOL := FALSE;
Din3 : BOOL := FALSE;
Din4 : BOOL := FALSE;
Din5 : BOOL := FALSE;
Din6 : BOOL := FALSE;
Din7 : BOOL := FALSE;
Ain0 : INT := 0;
Ain1 : INT := 0;
Ain2 : INT := 0;
Ain3 : INT := 0;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
Enable |
BOOL |
Function block content is executed as long as this input is set TRUE |
|
Dout0 |
BOOL |
Command state of digital output channel 0 of the ArmIO board |
|
Dout1 |
BOOL |
Command state of digital output channel 1 of the ArmIO board |
|
Dout2 |
BOOL |
Command state of digital output channel 2 of the ArmIO board |
|
Dout3 |
BOOL |
Command state of digital output channel 3 of the ArmIO board |
|
Dout4 |
BOOL |
Command state of digital output channel 4 of the ArmIO board |
|
Dout5 |
BOOL |
Command state of digital output channel 5 of the ArmIO board |
|
Dout6 |
BOOL |
Command state of digital output channel 6 of the ArmIO board |
|
Dout7 |
BOOL |
Command state of digital output channel 7 of the ArmIO board |
|
Aout0 |
INT |
Command state of analog output channel 0 of the armIO board. Unit is millivolt |
|
Aout1 |
INT |
Command state of analog output channel 1 of the armIO board. Unit is millivolt |
|
Aout2 |
INT |
Command state of analog output channel 2 of the armIO board. Unit is millivolt |
|
Aout3 |
INT |
Command state of analog output channel 3 of the armIO board. Unit is millivolt |
Outputs
|
Name |
Type |
Description |
|---|---|---|
|
Valid |
BOOL |
Set when function block is executing. Reset when Done or Error is set |
|
Din0 |
BOOL |
Command state of digital input channel 0 of the ArmIO board |
|
Din1 |
BOOL |
Command state of digital input channel 1 of the ArmIO board |
|
Din2 |
BOOL |
Command state of digital input channel 2 of the ArmIO board |
|
Din3 |
BOOL |
Command state of digital input channel 3 of the ArmIO board |
|
Din4 |
BOOL |
Command state of digital input channel 4 of the ArmIO board |
|
Din5 |
BOOL |
Command state of digital input channel 5 of the ArmIO board |
|
Din6 |
BOOL |
Command state of digital input channel 6 of the ArmIO board |
|
Din7 |
BOOL |
Command state of digital input channel 7 of the ArmIO board |
|
Ain0 |
INT |
Command state of analog input channel 0 of the armIO board. Unit is millivolt |
|
Ain1 |
INT |
Command state of analog input channel 1 of the armIO board. Unit is millivolt |
|
Ain2 |
INT |
Command state of analog input channel 2 of the armIO board. Unit is millivolt |
|
Ain3 |
INT |
Command state of analog input channel 3 of the armIO board. Unit is millivolt |