VAL_ReadSafeReference
FUNCTION_BLOCK VAL_ReadSafeReference
 | Applicable for CS9 controller only |
This function block returns the coordinates of a the safe reference position.For futher details about CS9 safety features, please consult 'CS9 Safety Manual'
Syntax
Definition:
FUNCTION_BLOCK VAL_ReadSafeReference
VAR_INPUT
Execute : BOOL := FALSE;
Index : INT := -1;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
SafeReference : T_JointPos;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
Name | Type | Description |
|---|---|---|
Execute | BOOL | Rising edge triggers function execution |
Index | INT | Number of the safe reference. Range [1..2] |
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 |
SafeReference | Coordinates of the selected safe reference position |