FiFoGroupIntegrate

FiFoGroupIntegrate integrates an initially independent PTP axis into a FIFO channel. iGroupPosition specifies the logical sequence, and indicates the position within the channel at which the axis is to be inserted.

Interface

VAR_INPUT
    iChannelId      : UDINT;
    iAxisId     : UDINT; (* [1..n] *)
    iGroupPosition  : UDINT; (* [1..m] *)
    bExecute    : BOOL;
    tTimeout    : TIME;
END_VAR
VAR_OUTPUT
    bBusy    : BOOL;
    bErr     : BOOL;
    iErrId   : UDINT;
END_VAR

iChannelId: Channel ID of the FIFO channel.

iAxisId: Axis ID of an axis that is to be inserted into the FIFO channel.

iGroupPosition: Position of the axis within the FIFO channel (iGroupPosition>=1).

bExecute: Edge-triggered signal for execution of the command.

tTimeout: ADS timeout (about 1 second).

bBusy: Becomes TRUE with a rising edge at bExecute, and remains TRUE until the block has executed the command.

bErr: Becomes TRUE if an error occurs while executing the command.

bErrId: Error number (ADS or NC error number).