VAL_Move
FUNCTION_BLOCK VAL_Move
This function block allows to command a motion to the specified end position located inside a database on robot side.
When FirstPointIdx and LastPointIdx parameters are different, the robot will move along the path defined by the points located in the bank between these 2 indexes. If LastPointIdx is not specified or equal to FirstPointIdx, the function block command a single movement to the point index defined by FirstPointIdx parameter.
Example: One supposes that there are 6 points defined in the bank number 2 of a database
If FirstPointIdx is equal 0 and LastPointIdx is equal 4, the robot will move along a path defined by the points with indexes 0-1-2-3-4
If FirstPointIdx is equal 5 and LastPointIdx is equal 0, the robot will move along a path defined by the points with indexes 5-4-3-2-1-0
Syntax
Definition:
FUNCTION_BLOCK VAL_Move
VAR_INPUT
Execute : BOOL := FALSE;
UserDatabase : BOOL := FALSE;
JointPosition : BOOL := FALSE;
InterpolateJ : BOOL := FALSE;
EnableBlending : BOOL := FALSE;
BankID : INT := -1;
FirstPointIdx : INT := -1;
LastPointIdx : INT := -1;
ToolIdx : INT := -1;
MdescIdx : INT := -1;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
MovementID : INT := -1;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
Name | Type | Description |
|---|---|---|
Execute | BOOL | Rising edge triggers function execution |
UserDatabase | BOOL | True=Use user database; False=Use plc database |
JointPosition | BOOL | True=move to joint position; False= move to a cartesian position |
InterpolateJ | BOOL | True=Joint interpolated movement; False=Linear movement |
EnableBlending | BOOL | True=use blending parameter of motion descriptor; False= robot stops at destination. |
BankID | INT | Number of the bank in which the point is located. Relevant only when moving on Cartesian position |
FirstPointIdx | INT | Index of the first Joint or Point data in the selected bank |
LastPointIdx | INT | Index of the last Joint or Point data in the selected bank. |
ToolIdx | INT | Index of the tool position in the bank |
MdescIdx | INT | Index of the motion descriptor in the bank. |
Outputs
Name | Type | Description |
|---|---|---|
Busy | BOOL | Set when function block is executing. Reset when Done or Error is set |
Done | BOOL | This output is set when function block has terminated with success |
Error | BOOL | This output is set when function block has terminated with error |
ErrorID | UDINT | Error code |
MovementID | INT | Identifier for this commanded movement |