L_MC4P_TeachCoordinateSystem

This FB serves to teach position and orientation of a PC by means of the robot kinematics. Teaching is done in three steps:

Teaching the basis of the coordinate system

Teaching the position and direction of the x-axis

Teaching the position of the y- axis and z-axis by means of a point in the positive x/y quadrant

This is an administrative FB as no motion command is generated.

		L_MC4P _TeachCoordinateSystem
AXES_GROUP_KIN	-	AxesGroup	xDone	-	BOOL
BOOL	-	xExecute	xBusy	-	BOOL
BOOL	-	xStepConfirm	eNextStep	-	L_MC4P_TeachCoordinateSystemSteps
L_MC4P_CoordSystem	-	eCoordSystem	xError	-	BOOL
			eErrorID	-	L_IE1P_Error

Inputs

Name Data type	Information/possible settings
AxesGroup AXES_GROUP_KIN	axes group reference
xExecute BOOL	FALSE ä TRUE	Start execution of the function block. During an ongoing processing, the FB can also be restarted via this input.
xStepConfirm BOOL	This input enables the user to acknowledge the execution of action step displayed via the eNextStep output. Execute teaching
FALSE ä TRUE	Step has been carried out.
eCoordSystem L_MC4P_CoordSystem	Selection of the coordinate system to be used: PCS_1: Product Coordinate System (1) ... PCS_16: Product Coordinate System (16) Coordinate systems and transformations

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_KIN

axes group reference

xExecute

BOOL

FALSE ä TRUE

Start execution of the function block.

During an ongoing processing, the FB can also be restarted via this input.

xStepConfirm

BOOL

This input enables the user to acknowledge the execution of action step displayed via the eNextStep output.

Execute teaching

FALSE ä TRUE

Step has been carried out.

eCoordSystem

L_MC4P_CoordSystem

Selection of the coordinate system to be used:

PCS_1: Product Coordinate System (1)
...

PCS_16: Product Coordinate System (16)

Coordinate systems and transformations

Outputs

Name Data type	Value/meaning
xDone BOOL	TRUE	Processing is completed.
xBusy BOOL	TRUE	Processing is running.
eNextStep L_MC4P_TeachCoordinateSystemSteps	Display of the next step Execute teaching
xError BOOL	TRUE	An error has occurred. For details see eErrorID .
eErrorID L_IE1P_Error	If xError = TRUE: Error number for the error that has occurred.

Name

Data type

Value/meaning

xDone

BOOL

TRUE

Processing is completed.

xBusy

BOOL

TRUE

Processing is running.

eNextStep

L_MC4P_TeachCoordinateSystemSteps

Display of the next step

Execute teaching

xError

BOOL

TRUE

An error has occurred. For details see eErrorID .

eErrorID

L_IE1P_Error

If xError = TRUE: Error number for the error that has occurred.

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