Y_GP_DetectPrimeAxes
This function block searches the
AXES_GROUP_REF
structure and the JointMap to determine if any joints are configured with additional axes. It is useful for operating other functions in Group Toolbox such as
Y_GP_GroupToHomeand
Y_GP_GroupReAlignPrimeAxes.
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. | |
| V | JointMap | Yt_GP_JointMap | Structure of data that holds information for Joint Index, Label, AxisName and AXIS_REF. | |
| VAR_INPUT | ||||
| B | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| 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. | |
| V | HasPrime | BOOL | Set TRUE if the Group contains at least one joint configured with more than one axis. | |
Notes
- This function block only supports locally hosted groups, not remotely hosted robots via MotomanSync.
- This function block expects a populated JointMap structure. Execute #30285 before using this function block.
Error Description
See the Function Block ErrorID List.
Example
A project uses a group configuration with prime axes in the X and Y axes, as seen in the following image.
Y_GP_DetectPrimeAxes will report the presence of prime axes via the 'HasPrime' output.
