37 / 123Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
7.6.7 Reading the current axis position
Description The function block KRC_ReadActualAxisPos reads the current axis-specific
robot position $AXIS_ACT. This is updated cyclically.
Memory
Inputs
Outputs
7.6.8 Reading the current path velocity
Description The function block KRC_ReadActualVelocity reads the current actual velocity
at the TCP of the robot $VEL_ACT.
Status INT Status of the current actual position
Turn INT Turn of the current actual position
Tool INT Number of the currently used TOOL coordinate
system $ACT_TOOL
Base INT Number of the currently used BASE coordinate
system $ACT_BASE
IPOMode INT Current interpolation mode in the main run
$IPO_MODE_C
Parameter Type Description
Fig. 7-8: Function block KRC_ReadActualAxisPos
Parameter Type Description
KRC_AxisGroup
RefArr
AXIS_GROUP_
REF_ARR
Reference to the internal structure of the axis group
Parameter Type Description
AxisGroupIdx INT Index of axis group
Parameter Type Description
Valid BOOL TRUE = data are valid
AxisPosition E6AXIS Current axis-specific robot position
$AXIS_ACT
The data structure E6AXIS contains all the axis
positions of the axis group.
A1 … A6 REAL Current position of robot axes A1 to A6
E1 … E6 REAL Current position of external axes E1 to E6
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