VAL_WriteAxesGroup

VAL_WriteAxesGroup 1:

FUNCTION_BLOCK VAL_WriteAxesGroup

Syntax

Definition:

FUNCTION_BLOCK VAL_WriteAxesGroup
VAR_INPUT
    Enable         : BOOL := FALSE;
    OutputAddress  : POINTER TO T_ToRobot;
END_VAR
VAR_OUTPUT
    Error    : BOOL := FALSE;
    ErrorID  : UDINT := 0;
END_VAR
VAR_IN_OUT
    AxesGroup  : T_StaeubliRobot;
END_VAR

VAL_WriteAxesGroup 2: Inputs

Name

Type

Description

Enable

BOOL

TRUE = Content of the FB is executed

OutputAddress

POINTER TO T_ToRobot

Base address of the Outputs within the IO interface with a robot. Use 'ADR' operator for setting this input of the function block.
Typical syntax is ADR(%QWxx) where xx depends on the hardware configuration of the PLC.

VAL_WriteAxesGroup 3: Outputs

Name

Type

Description

Error

BOOL

Error flag

ErrorID

UDINT

Error code

VAL_WriteAxesGroup 4:/VAL_WriteAxesGroup 5: Inputs/Outputs

Name

Type

Description

AxesGroup

T_StaeubliRobot

Data block for a robot