FB_LockTrafoParam

FB_LockTrafoParam 1:

After changing transformation parameters by using FB_UnlockTrafoParam, the Function Block FB_LockTrafoParam locks the transformation parameters again, so they cannot be written anymore.

VAR_INPUT

VAR_INPUT
    bExecute              : BOOL;
    oidTrafo              : UDINT;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

oidTrafo: Object-ID of the kinematic transformation object. See example below.

VAR_OUTPUT

VAR_OUTPUT
    bBusy                 : BOOL;
    bDone                 : BOOL;
    bError                : BOOL;
    nErrorId              : UDINT;
END_VAR

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

Scara Transformation Example Object Id

FB_LockTrafoParam 2:
VAR
    bUserExecute         : BOOL;
    fbFB_LockTrafoParam  : FB_LockTrafoParam;
    oidTrafo             : UDINT := 16#010100B0; (*Trafo object id*)
END_VAR
fbFB_LockTrafoParam(
    bExecute := bUserExecute, 
    oidTrafo := oidTrafo, 
    bBusy=>,
    bDone=>,
    bError=>,
    nErrorId=> );