Y_MS_YrcPendantDriver
Y_MS_YrcPendantDriver
uses explicit messaging between the robot controller and the iC9200 to update the YRC pendant app on the robot teach pendant. The function block stores user part frames, user defined tools , and taught points to UserAppData structure in the iC9200 controller. The function block can also be used to write the UserAppData to t
he iC9200 controller, read from the controller to load into the UserAppData.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| V | AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| V | UserAppData | Yt_GP_UserApplicationData | Structure that contains Part frames, Tool Data and Taught Point details | |
| VAR_INPUT | ||||
| V | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| V | FileName | STRING | Name of binary file to be saved on controller. If empty AxesGroup.Name is used for file name | '' |
| V | OutputStatus | BYTE | Feedback input for monitoring output state |
BYTE#0 |
| VAR_OUTPUT | ||||
| V | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | FALSE |
| V | Busy | BOOL | Set high upon the rising edge of the Enable input, and reset when Function block completes request from teach pendant app | FALSE |
| V | PdAppsRunning | BOOL | Output status for Teach application running on robot controller pendant | FALSE |
| V | TeachArraySaved | BOOL | Output status for teach list on Teach Pendant app has been saved to file on controller flash memory. Will remain true until a new point has been taught | FALSE |
| V | OutputNumber | WORD | Output status that shows which output is selected in the Teach Pendant app |
WORD#0 |
| V | SetOut | BOOL | Set true for 200ms when manually activated in the teach pendant app |
FALSE |
| V | ResetOut | BOOL | Set true for 200ms when manually activated in the teach pendant app |
FALSE |
| V | 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. |
FALSE |
| V | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. |
UINT#0 |
Error Description
See the Function Block ErrorID List.