ROBOTIQ PALLETIZING SOLUTION AX Series, Instruction Manual

Page: 79 / 115

5.2.1. Get Linear Axis Position
Description
This function can be used anywhere in the program and returns the linear axis position measured from the lowest point of the axis.
Declaration
rq_get_linear_axis_pos( )
Return value
This function returns a float which expresses the linear axis position in meters.
5.2.2. Disable Linear Axis
Description
The linear axis decelerates to a complete stop but remains powered (the brake is not applied). The communication between the
robot controller and the linear axis controller remains active.
Declaration
rq_linear_axis_disable( )
Return value
The rq_linear_axis_disable( ) or rq_linear_axis_disable(True) function returns True when it succeeds. If the function fails, it returns
an error message and the program stops. When the function returns True, the event is recorded in the UR Log tab.
The rq_linear_axis_disable(False) function returns True when it succeeds, and returns False when it fails (the program is not
stopped). The event, whether successful or failed, is recorded in the UR Log tab.
5.2.3. Start Linear Axis
Description
This function is the equivalent of the Start button. The linear axis brake is released.
Use this function before a palletizer or a linear axis move node. The linear axis must be scanned before the use of this function.
Declaration
rq_linear_axis_start( )
Return value
The rq_linear_axis_start( ) or rq_linear_axis_start(True) function returns True when it succeeds. If the function fails, it returns an
error popup and the program stops. When the function returns True, the event is recorded in the UR Log tab.
The rq_linear_axis_start(False) function returns True when it succeeds and returns False when it fails (the program is not stopped).
The event, whether it is successful or failed, is recorded in the UR Log tab.
79