Y_GP_GetJointIndex

This function blocks searches the #32489 struct to provide the joint index number for a given joint axis name.

Parameters

*	Parameter	Data Type	Description	Default
VAR_IN_OUT
V	JointMap	Yt_GP_JointMap	Structure of data that holds information for Joint Index, Label, AxisName and AXIS_REF.
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
V	Joint	Yt_String16	Joint axis name as selected in the group's mechanism configuration.	STRING#''
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.
B	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)
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	JointIndex	INT	Joint index for the given joint axis name as defined in the group's mechanism configuration.

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.

A project configured as follows, using AXIS4 as the prime axis of Y, as seen in the following image.

When using Y_GP_GetJointIndex with the 'Joint' input set to 'AXIS4', the 'JointIndex' will return 2 as shown in the group's configuration.