Data type for path switching of robot outputs.
Data structure used in MLxRobotOutputData structure.
Data are edited by MLxRobotSetDigitalOutputWithMot function bloc. It is used
to switch a digital output during motion.
Version history
0.1.0
deGroot
Changes
Changed:
- source code ported
- version number reset
- now using semantic versioning
Overview
| name | type | default | comment |
|---|---|---|---|
| OutputNumber | DINT | -1 = invalid output function. 0~63 = "Universal output" number. | |
| OutputData | BOOL | Output data to "Universal output" of MotoSync. | |
| Padding | ARRAY[0..2] OF BOOL | Placeholder for platform compatibility | |
| OutputAdjust | REAL | Adjust output timing. Signal will be output this setting before reaching the point. Unit will be in distance(mm) if OutputAdjustUnits = 0 and time(msec) if OutputAdjustUnits = 1. Data range : <= 0 | |
| OutputAdjustUnits | BOOL | 0 = Distance, 1 = Time | |
| Padding2 | ARRAY[0..2] OF BOOL | Placeholder for platform compatibility | |
| OutputTime | DINT | The length of time to output(msec). 0 = Forever 1~ Output during the specified time(msec). |
Details
OutputNumber
DINTGeneral Purpose Output number
| Value | Description |
|---|---|
| (-1) | Invalid output function |
| 0~63 | General Purpose Output number |
OutputData
BOOLState to set to General Purpose Output of Yaskawa controller.
Padding
ARRAY[0..2] OF BOOLPlaceholder for platform compatibility
OutputAdjust
REALAdjust output timing. Output is triggered before reaching the point depending on this setting.
Unit is expressed in distance (mm) if
OutputAdjustUnits
= 0 or time (msec)
if
OutputAdjustUnits
= 1.
Data range : <= 0.
OutputAdjustUnits
BOOL| Value | Description |
|---|---|
| 0 | Distance |
| 1 | Time |
Padding2
ARRAY[0..2] OF BOOLPlaceholder for platform compatibility
OutputTime
DINTThe length of time to hold the output state in msec.
| Value | Description |
|---|---|
| 0 | Forever |
| >0 | Output during the specified time (msec) |