Y_GroupReadJointIndex
This function block provides the JointIndex for a joint within a group. Provide the joint name as described in the Hardware Configuration in the Group configuration.
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. | |
| 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 |
| B |
IdentInGroup | STRING | Specify the name of the Axis for which the AXIS_REF is required. This is the name which appears in the Hardware Configuration and Web UI. | 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. | |
| E |
JointIndex | UINT | Index number of the Joint requested. | |
Notes
This function can be used to programmatically obtain the joint index which can be input to the Y_GroupJogJoint function block.
Error Description
See the Function Block ErrorID List.
Example