This is part of 2.1.0 – latest release.

MLxxCompareAxis

Compare two axis positions.

Compare joint position to a reference position. If the difference is less than the AngularTolerance , the function block output is true.

Version history

05 Jan 2021 deGroot

Changed:

kind	name	type
input	CurrentJoints	`ARRAY[0..7] OF REAL`
input	ReferenceJoints	`ARRAY[0..7] OF REAL`
input	AngularTolerance	`REAL`

ARRAY[0..7] OF REAL

Joint position [S,L,U,R,B,T,E,8] to compare.

ARRAY[0..7] OF REAL

Reference joint position [S,L,U,R,B,T,E,8]

REAL

Angular Tolerance.

Snippet of the function call:

dummy := MLxxCompareAxis(
           CurrentJoints := , 
           ReferenceJoints := , 
           AngularTolerance := );