FB_CheckActualKinStatus
The Function Block FB_CheckActualKinStatus returns the status of the Kinematic channel.
 | Getting the Kinematic channel status cyclically This Function Block needs more than one PLC cycle to read the Kinematic channel status. To get it for every cycle use F_GetKinChnOperationState. |
VAR_INPUT
VAR_INPUT
bExecute : BOOL;
END_VAR
bExecute: The command is triggered by a rising edge at this input.
VAR_IN_OUT
VAR_IN_OUT
stAxesList : ST_KinAxes;
stKinRefIn : NciChannelToPlc;
END_VAR
stAxesList: Determines the ACS and MCS axes included in the configuration. See ST_KinAxes.
stKinRefIn: Determines the kinematic group of the configuration. See NciChannelToPlc.
VAR_OUTPUT
VAR_OUTPUT
eKinStatus : E_KINSTATUS;
bBusy : BOOL;
bDone : BOOL;
bError : BOOL;
nErrorId : UDINT;
END_VAR
eKinStatus: Returns the status of the kinematic channel. See E_KINSTATUS
bBusy: The output becomes TRUE when the command is started with bExecute as long as the function block is executing the command. While bBusy is TRUE, no new instructions will be accepted at the inputs. When bBusy becomes FALSE again, the function block is ready for a new command. At the same time one of the outputs bDone or bError is set.
bDone: The output becomes true if the command succeeded.
bError: The output bError becomes true if an error occurs as the command is executed.
nErrorId: Contains the command-specific error code of the most recently executed command. The error code can be found in the ADS error documentation or in the NC error documentation (error codes above 0x4000).
Example
VAR
fbFB_CheckActualKinStatus : FB_CheckActualKinStatus;
in_stKinToPlc AT %I* : NciChannelToPlc;
stAxesConfig : ST_KinAxes;
eKinStatus : E_KINSTATUS;
END_VAR
fbFB_CheckActualKinStatus(
bExecute := TRUE,
stAxesListReference := stAxesConfig,
stKinRefI := in_stKinToPlc,
eKinStatus => eKinStatus );
Kinematic Group State
