VAL_MoveSafeReference
FUNCTION_BLOCK VAL_MoveSafeReference
 | Applicable for CS9 controller only |
This function block commands a joint interpolated movement to an end-position.The values specified for the end-position are interpreted as joint values. They represent the position of each axis in degrees.
Syntax
Definition:
FUNCTION_BLOCK VAL_MoveSafeReference
VAR_INPUT
Execute : BOOL := FALSE;
Index : UINT;
Velocity : REAL := REAL#100;
Acceleration : REAL := REAL#100;
Deceleration : REAL := REAL#100;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Active : BOOL := FALSE;
CommandTransferred : BOOL := FALSE;
CommandAborted : 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 |
Index | UINT | Number of the safe position to reach |
Velocity | REAL | Joint velocity. Percentage of the nominal speed of the robot |
Acceleration | REAL | Joint acceleration. Percentage of the nominal acceleration of the robot |
Deceleration | REAL | Joint deceleration. Percentage of the nominal deceleration of the robot |
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 |
Active | BOOL | Set when commanded movement is currently executed by the robot |
CommandTransferred | BOOL | Commanded motion is successfully buffered inside robot controler |
CommandAborted | BOOL | Command is aborted by another command |
Error | BOOL | This output is set when function block has terminated with error |
ErrorID | UDINT | Error code |
MovementID | INT | Identifier for this commanded movement |