For CODESYS

Inputs:

Start

This is the input that starts the Function Block.

Outputs:

InCycle	BOOL output bit that indicates the status of execution of the Function Block. If this is high, then the Function Block execution is complete.
Done	BOOL output bit that indicates the status of completion of the Function Block. If this is high, then the Function Block execution is complete.
Error	BOOL output bit that indicates if an error occurred during execution.
ErrCode1 and ErrCode2	UINT error codes from the robot controller. These should be 0 in normal operation, and one or both are greater than 0 when the Error bit is high.

Function Blocks have additional inputs and/or outputs. These are described separately for each Function Block in the following:

Function Blocks Reference