Y_GroupSetFrameOffset
This Function Block sets an offset between the Coordinate Systems MCS and WCS, MCS and PCS, or WCS and PCS. The resulting offset can be verified by referencing AxesGroup.Machine.Offset or AxesGroup.Part.Offset.
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 | Offset |
MC_CARTESIAN_REF | A set of 6 values which specify an orientation as X, Y, Z, Rx, Ry, Rz | 0,0,0,0,0,0 |
| E | ExecutionMode |
MC_ExecutionMode |
Enumeration with the following values:
MC_ExecutionMode#Immediately
MC_ExecutionMode#Delayed
MC_ExecutionMode#Queued Only Immediately is supported. |
MC_ExecutionMode#Immediately |
| E | RefCoordSystem |
MC_CoordinateSystem | Enumeration with the following values: 0 = ACS, 1 = MCS, 2 = PCS, 3 = TCS, 4 = WCS, 5 = TPCS. |
MC_CoordinateSystem#ACS |
| E | SetCoordSystem |
MC_CoordinateSystem | Enumeration with the following values: 0 = ACS, 1 = MCS, 2 = PCS, 3 = TCS, 4 = WCS, 5 = TPCS. | MC_CoordinateSystem#ACS |
| 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) | |
| 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
- Only two combinations are supported:
- MCS -> PCS
- MCS -> WCS
- If setting the offset on a MotomanSync group, note that setting the WCS offset (as SetCoordSystem) is retained in the robot controller memory and will be persistent after power cycle.
Error Description
See the Function Block ErrorID List.