Y_MS_ReadOptionMonitor
Reads data from option monitor of each robot axis
Parameters:
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| V | AxesGroup | AXIS_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. |
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VAR_INPUT
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| B | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. Indicates that the function is operating normally and the outputs of the function are valid. |
FALSE |
| VAR_OUTPUT | ||||
| B | FeedbackData | Yt_LrealArray8 | Array of option monitors for each joint. | |
| 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. |
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| B | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. |
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Error description
See the Function Block ErrorID List.