4 / 159 Issued: 14.12.2015 Version: CODESYS Library mxAutomation 2.1 V2
CODESYS Library
6.10.13 Reading multiple digital inputs .............................................................................. 41
6.10.14 Reading a digital output ........................................................................................ 42
6.10.15 Writing a digital output .......................................................................................... 42
6.10.16 Writing digital outputs 1 to 8 ................................................................................. 43
6.10.17 Reading an analog input ...................................................................................... 44
6.10.18 Reading an analog output .................................................................................... 44
6.10.19 Writing an analog output ...................................................................................... 45
6.10.20 Wait statement (read digital input) ........................................................................ 46
6.10.21 Selecting the tool, base and interpolation mode ................................................... 46
6.10.22 Reading TOOL data ............................................................................................. 47
6.10.23 Writing TOOL data ................................................................................................ 48
6.10.24 Reading BASE data ............................................................................................. 49
6.10.25 Writing BASE data ................................................................................................ 50
6.10.26 Reading the load data .......................................................................................... 51
6.10.27 Writing load data .................................................................................................. 51
6.10.28 Reading the software limit switches of the robot axes .......................................... 53
6.10.29 Reading the software limit switches of the external axes ..................................... 53
6.10.30 Writing the software limit switches of the robot axes ............................................ 54
6.10.31 Writing the software limit switches of the external axes ....................................... 55
6.10.32 Declaring interrupts .............................................................................................. 56
6.10.33 Activating interrupts .............................................................................................. 57
6.10.34 Deactivating interrupts .......................................................................................... 58
6.10.35 Reading the state of an interrupt .......................................................................... 59
6.10.36 Activating a path-related switching action (TRIGGER WHEN DISTANCE) ......... 60
6.10.37 Activating a path-related switching action (TRIGGER WHEN PATH) .................. 61
6.10.38 Canceling a program ............................................................................................ 63
6.10.39 Stopping the robot ................................................................................................ 64
6.10.40 Continuing a program ........................................................................................... 64
6.10.41 Automatically starting function blocks and signals ............................................... 65
6.11 Functions for activating motions ................................................................................ 66
6.11.1 Moving to a Cartesian position with a LIN motion ................................................ 66
6.11.2 Moving to a Cartesian position with a LIN_REL motion ....................................... 67
6.11.3 Moving to a Cartesian position with a PTP motion ............................................... 69
6.11.4 Moving to a Cartesian position with a PTP_REL motion ...................................... 70
6.11.5 Moving to an axis-specific position with a PTP motion ......................................... 72
6.11.6 Moving to a Cartesian position with a CIRC motion ............................................. 73
6.11.7 Moving to a Cartesian position with a CIRC_REL motion .................................... 75
6.11.8 Jogging to a relative end position ......................................................................... 78
6.11.9 Jogging to a relative end position in the TOOL coordinate system ...................... 79
6.11.10 Jogging to an end position ................................................................................... 80
6.12 Functions for activating motions (PLC OPEN-compliant) .......................................... 83
6.12.1 Moving to a Cartesian position with a LIN motion ................................................ 83
6.12.2 Moving to a Cartesian position with a LIN_REL motion ....................................... 84
6.12.3 Moving to a Cartesian position with a PTP motion ............................................... 86
6.12.4 Moving to a Cartesian position with a PTP_REL motion ...................................... 87
6.12.5 Moving to an axis-specific position with a PTP motion ......................................... 89
6.12.6 Moving to a Cartesian position with a CIRC motion ............................................. 90
6.12.7 Moving to a Cartesian position with a CIRC_REL motion .................................... 93
6.13 Diagnostic functions .................................................................................................. 95
