LATCHED real-valued function LATCHED real-valued function Syntax LATCHED (select) Function Return the status of the position latch and which input triggered it or the status of the Stop On Digital Signal. Parameter select Integer, expression, or real variable that determines whether any latches have occurred since the last time the function was executed: 0 Returns latch information for currently selected robot -n ( Returns latch information for belt n +n (> 0) Returns latch information for robot n Return Value 0 if no latch has been detected N if position latch on the rising edge of input N was detected -N if position latch on the falling edge of input N was detected NOTE:
N represents any digital input signal on the controller, from 1001 to 1012 Details This function returns a nonzero value if a position latch or the Stop on Digital Signal event occurred (and thus the robot location or belt-encoder position has been latched) since the LATCHED function was last used. Otherwise, the function returns the value FALSE. When this function returns a nonzero value, the data for the latch event is made available for retrieval by the following functions:
l DEVICE Returns position of external encoder l BELT Returns position of external encoder l LATCH Returns robot location as a transformation l #PLATCH Returns robot location as a precision point eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 321