Reading outputs of the robot system
Description
The function block KRC_ReadAxisGroup is used to assign the parameter KRC4_Input to the parameter AxisGroupIdx. The following function blocks always refer to the same robot system using the parameter AxisGroupIdx.
 | The function block KRC_ReadAxisGroup must always be called at the start of the program. Access to the parameter AxisGroupIdx is only permissible between the function blocks KRC_ReadAxisGroup and KRC_WriteAxisGroup. |
| The function block may only be instanced once per axis group. In the case of multiple instancing, the signals of the most recently called function block are output. |
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
KRC4_Input |
POINTER TO BYTE |
Defines the start index of the output range of the robot controller |
|
AxisGroupIdx |
INT |
Index of axis group
|
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
ErrorID |
DINT |
Error number |
|
Error |
BOOL |
TRUE = error in function block |