Y_DefineTool
This Function Block defines a tool's properties such as offset (from the tool plate), moment of inertia, mass, center or gravity etc . The tool properties of the individual tool (defined by a unique ID between 0 and 63) are saved in a tool structure.
Note: This Function Block is NOT supported for Locally hosted Group
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
|
VAR_IN_OUT
|
||||
| B |
AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| B | ToolStruct | Yt_ToolStruct | Structure containing an array of tools. | |
| B | ToolProperties |
Yt_ToolData | Structure containing information about a groups tooling, such as offset, center of gravity, and mass. | |
| VAR_INPUT | ||||
| B | Execute |
BOOL | Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input. | FALSE |
| VAR_OUTPUT | ||||
| B | Done |
BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| E | Busy |
BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| E | CommandAborted | BOOL | Set high if motion is aborted by another motion command orMC_Stop. This output is cleared with the same behavior as the Done output. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. |
|
| E |
ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. |
|
Notes
1) For MotomanSync groups, the ToolStruct is saved in the robot controller in addition to the MPiec application.
2) For MotomanSync groups, ToolData.ID = 63 is invalid because it is reserved by the robot controller.
3) ToolData.ID should be between 0 and 63. ToolData.ID is used as that tool's index in ToolStruct.
Error Description
See the Function Block ErrorID List