VAL_TouchProbe
FUNCTION_BLOCK VAL_TouchProbe
This function block enables high accurate ‘on the fly’ capture of the robot position.A sensor shall be connected to a dedicated fast digital input of the robot controller.The position capture occurs on a rising edge of this dedicated sensor.
Fast input number | Description | Wiring CS8C | Wiring CS9 |
|---|---|---|---|
0 | Fast input 0 | J111-2(+) / J111-7(-) | J212-2(+) / J212-7 (-) |
1 | Fast input 1 | J111-3(+) / J111-8(-) | J212-3(+) / J212-8 (-) |
Syntax
Definition:
FUNCTION_BLOCK VAL_TouchProbe
VAR_INPUT
Enable : BOOL := FALSE;
FastInputNumber : INT := -1;
END_VAR
VAR_OUTPUT
Valid : BOOL := FALSE;
Active : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
JointPosition : T_JointPos;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
Name | Type | Description |
|---|---|---|
Enable | BOOL | Rising edge triggers function execution |
FastInputNumber | INT | Index of the fast input which is used to capture robot position. |
Outputs
Name | Type | Description |
|---|---|---|
Valid | BOOL | This output is set when function block has terminated with success |
Active | BOOL | TRUE = Fast robot position capture is activated on robot side. FALSE = Fast robot position capture is disabled. |
Error | BOOL | This output is set when function block has terminated with error |
ErrorID | UDINT | Error code |
JointPosition | Position of each robot axis when rising edge occured on input |