The positions of the axes are transferred at the i_PositionA, i_PositionB, and i_PositionC inputs.
They must be converted to Cartesian coordinates within this method and returned as return values at the q_stCoordinate output.
Those calculated values are further processed by the robot.
|
Input |
Data type |
Description |
|---|---|---|
|
i_lrPositionA |
LREAL |
Position of axis A. |
|
i_lrPositionB |
LREAL |
Position of axis B. |
|
i_lrPositionC |
LREAL |
Position of axis C. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
|
q_etDiagExt |
POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message |
|
|
q_sMsg |
STRING[80] |
Event-triggered message that gives additional information on the diagnostic state. |
|
q_stCoordinate |
Cartesian position of the TCP in the coordinate system. |