VAL_WriteJoint
FUNCTION_BLOCK VAL_WriteJoint
This function block allows to initialize a joint position inside a database
Syntax
Definition:
FUNCTION_BLOCK VAL_WriteJoint
VAR_INPUT
Execute : BOOL := FALSE;
UserDatabase : BOOL := FALSE;
JointIdx : INT := -1;
Joint1 : REAL := 0;
Joint2 : REAL := 0;
Joint3 : REAL := 0;
Joint4 : REAL := 0;
Joint5 : REAL := 0;
Joint6 : REAL := 0;
SaveOnDisk : BOOL := TRUE;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
Execute |
BOOL |
Rising edge triggers function execution |
|
UserDatabase |
BOOL |
True=Data of the user database will be used; False= Use data of the plc database |
|
JointIdx |
INT |
Index of the joint position in the bank |
|
Joint1 |
REAL |
Coordinate for axis 1 |
|
Joint2 |
REAL |
Coordinate for axis 2 |
|
Joint3 |
REAL |
Coordinate for axis 3 |
|
Joint4 |
REAL |
Coordinate for axis 4 |
|
Joint5 |
REAL |
Coordinate for axis 5 - not applicable for 4 axis robots- |
|
Joint6 |
REAL |
Coordinate for axis 6 - not applicable for 4 axis robots- |
|
SaveOnDisk |
BOOL |
True=Tool data stored onto the controller's flashdisk. False=Data not stored--> faster FB execution |
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 |