Y_GP_ReadJointMap

This function block will populate the JointMap with data linking AXIS_REF, Axis Name, Group Joint, and Joint Label. It can be useful when creating applications that must programmatically act upon specifically named joints or axes rather than predetermined AXIS_REF numbers for a specific machine.

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 containing group information populated by this function block.
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.
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.

Error Description

See the Function Block ErrorID List.

Example

With a group configured as shown, the ReadJointMap function block will populate the JointMap as viewed in the Watch Window. The configuration shown is an nD gantry with XYZ coordinates, using a prime axis for the Y axis and an extra auxiliary axis in joint 4.