Writing robot system inputs
Description
The function block KRC_WriteAxisGroup uses the parameter AxisGroupIdx to write the inputs to the range defined by the parameter KRC4_Output.
 | The function block KRC_WriteAxisGroup must always be called at the end of the program. Access to 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 |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
KRC4_Output |
POINTER TO BYTE |
Defines the start index of the input range of the robot controller |
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |