Kuka KUKA.PLC mxAutomation Logix 1.0

39 / 123Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Inputs
Outputs
7.6.10 Reading the current robot acceleration
Description The function block KRC_ReadActualAcceleration reads the current Cartesian
acceleration at the TCP of the robot $ACC_CAR_ACT.
Memory
Inputs
Outputs
Parameter Type Description
AxisGroupIdx INT Index of axis group
ExecuteCmd BOOL The statement is executed in the case of a ris-
ing edge of the signal.
Parameter Type Description
ErrorID DINT Error number
A1 … A6 INT Current velocity of robot axis A1 … A6 in the
main run (unit: %)
E1 … E6 INT Current velocity of external axis E1 … E6 in
the main run (unit: %)
Done BOOL TRUE = statement has been executed
Error BOOL TRUE = error in function block
The current Cartesian acceleration about angles A, B, C is not evalu-
ated.
Fig. 7-11: Function block KRC_ReadActualAcceleration
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
ExecuteCmd BOOL The statement is executed in the case of a ris-
ing edge of the signal.
Parameter Type Description
ErrorID DINT Error number
ACC_ABS REAL Current Cartesian acceleration relative to the
absolute value of the overall acceleration lX +
Y +Zl (unit: m/s
2
)
X, Y, Z REAL Current Cartesian acceleration in the X, Y, Z
direction (unit: m/s
2
)