VAL_ReadWriteIO
FUNCTION_BLOCK VAL_ReadWriteIO
Update the digital outputs of the controller with values passed as parameter.Return the state of the digital inputs available on the controller.
 | The mentioned inputs Valve1 and Valve2 are not available with TS Scara robot (CS8C controler). |
| Please be aware of the following signal combination for CS9 controller controlling robot equiped with 5-3 ways solenoid valves |
Valvexx | EnableValvexx | Air flow on outlet |
|---|---|---|
0 or 1 | 0 | NO air |
0 | 1 | Axx |
1 | 1 | Bxx |
Comment: xx = 1 or 2 depending on robot model | ||
Syntax
Definition:
FUNCTION_BLOCK VAL_ReadWriteIO
VAR_INPUT
Enable : BOOL := FALSE;
Valve1 : BOOL := FALSE;
Valve2 : BOOL := FALSE;
Fout0 : BOOL := FALSE;
Fout1 : BOOL := FALSE;
EnableValve1 : BOOL := FALSE;
EnableValve2 : BOOL := FALSE;
END_VAR
VAR_OUTPUT
Valid : BOOL := FALSE;
UsrInput0 : BOOL := FALSE;
UsrInput1 : BOOL := FALSE;
Fin0 : BOOL := FALSE;
Fin1 : BOOL := FALSE;
ValvesSafeState : BOOL := FALSE;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
Name | Type | Description |
|---|---|---|
Enable | BOOL | Function block content is executed as long as this input is set TRUE |
Valve1 | BOOL | Command the state of the internal valve connected to A1&B1 outlets on the forearm of 6 axis robot |
Valve2 | BOOL | Command the state of the internal valve connected to A2&B2 outlets on the forearm of 6 axis robot |
Fout0 | BOOL | Command Fast output provided on J111-9 / J111-12 connector for CS8C controller OR J212-4 / J212-9 connector for CS9 controller |
Fout1 | BOOL | Command Fast output provided on J111-9 / J111-12 connector for CS8C controller OR J212-1 / J212-5 connector for CS9 controller |
EnableValve1 | BOOL | Apply to CS9 with 6 axes robot equipped with 5-3 ways solenoid valves ONLY. TRUE=Valve1 can be operated. FALSE=Valve1 is in (closed) middle Position |
EnableValve2 | BOOL | Apply to CS9 with 6 axes robot equipped with 5-3 ways solenoid valves ONLY. TRUE=Valve2 can be operated. FALSE=Valve2 is in (closed) middle Position |
Outputs
Name | Type | Description |
|---|---|---|
Valid | BOOL | Set when function block is executing. Reset when Done or Error is set |
UsrInput0 | BOOL | State of the digital user input 0 provided on J109-11 / J109-30 connector of the CS8C controller |
UsrInput1 | BOOL | State of the digital user input 1 provided on J109-16 / J109-35 connector of the CS8C controller |
Fin0 | BOOL | State of the fast digital input provided on J111-2 / J111-7 connector of the CS8C controller |
Fin1 | BOOL | State of the fast digital input provided on J111-3 / J111-8 connector of the CS8C controller |
ValvesSafeState | BOOL | CS9 controlling 5-3 ways valves ONLY. The valves are in Safe State. Valve position may not match the commanded state. Refer to CS9 safety manual for details |