on error of safety FB [...] _EmergencyStop (FB) ¶ FUNCTION [...] Activation of the FB. S

_ReadKinTransformForAxis (FB) ¶ FUNCTION [...] axis, call the FB [...] The FB is not finished

_GroupSaveContinueData (FB) ¶ FUNCTION [...] . Otherwise, an error will [...] return an error

_GroupSetAncillaryPathLimits (FB) ¶ FUNCTION [...] Disabled or GroupErrorStop , and [...] an error. MC

RDIAG (FB) ¶ [...] B.RDIAG ; diag : CommFB [...] Diag.ID := CommFB.ID ( EN

3_PersistPosition (FB) ¶ FUNCTION [...] Acrivates FB, else [...] Busy BOOL TRUE : FB

_GroupTargetPosition (FB) ¶ FUNCTION [...] . This is an administrative FB, since [...] Busy BOOL The FB

SALARM (FB) ¶ [...] . If an error occurred, the ERROR output

Select (FB) ¶ [...] SockSelect Methods: Check CheckError [...] ) CheckError (Method

3_BrakeControl (FB) ¶ FUNCTION [...] Activates FB, else [...] since enabling the FB