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Chap.6 Commands
6-1
Chap.6 Function block
It describes the function blocks used for the high-performance XGB embedded positioning.
6.1 Common items of function blocks
The common I/O variables used for the positioning function blocks are as follows.
I/O
Variable Name
Data type Details
Input
REQ BOOL
Request for executing function blocks
-If the conditions connected to this area are established during executing the program and it
leads to “0→1”(edge or level), function blocks will run.
BASE USINT
Base position No.
- The area is used to set up the numbers of the bases where positioning modules are
equipped.
- Embedded positioning base No.: 0(Fixed)
SLOT USINT
Embedded positioning slot
- The area is used to set up the numbers of slots where positioning modules are equipped.
- Embedded positioning slot No.: 1(Fixed)
AXIS USINT
Used axis No.
- 1 ~ 4: 1 axis ~ 4 axis
- If the values other than set ones are selected, “error6” will occur.
Output
DONE BOOL
Displaying the status that the execution of function blocks is completed.
-When the function block is completed without error, “1” will be output and maintained until
next execution; If error occurs, “0” will be output.
STAT UINT
Displaying error state
- The area outputs the error No. when errors occur during executing function blocks.
(1) The errors that occur in STAT variables of the positioning function blocks are as follows.
STAT Details Description
0 Normal If function blocks are normally executed, DONE=1, STAT=0 will be output.
1 Base No. setting error It occurs when the base No.(BASE)’s set values are out of the range.
3 Slot No. setting error It occurs when the slot No.(SLOT)’s set values are out of the range(1 ~ 11).
4 Empty slot error
It occurs when the module is not installed in the position that is specified as BASE,
SLOT.
5
Mismatch of positioning
modules It occurs when other modules are installed instead of the positioning modules in
the position that is specified as BASE, SLOT.
6 Axis No. error
It occurs when the axis No.(AXIS)’s set values are out of the range(1 ~ 4).
10
Overlapping execution error of
function blocks
It occurs when the previous function block that was executed prior to the current
one has not yet read by the positioning module. After the previously executed
function block is read by the positioning module, execute the other function block. It
takes maximum 10ms for the positioning module to read the function block after
execution.
11 Input variables setting error
It occurs when the set values of variables are out of the range except BASE,
SLOT, AXIS. Check the range of settable values for the variables in each function
block.
101
~ 811
Positioning module error
The error occurs from the positioning module as a result of executing function
blocks.