Kuka KUKA.PLC mxAutomation Logix 1.0

48 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Outputs
7.6.20 Writing TOOL data
Description The function block KRC_WriteToolData writes the TOOL data of the robot.
Memory
Inputs
Parameter Type Description
ToolData FRAME The data structure FRAME contains the follow-
ing TOOL data:
 X, Y, Z: Origin of the TOOL coordinate sys-
tem relative to the FLANGE coordinate sys-
tem
 A, B, C: Orientation of the TOOL coordinate
system relative to the FLANGE coordinate
system
(>>> "FRAME" Page 27)
ErrorID DINT Error number
Done BOOL TRUE = statement has been executed
Error BOOL TRUE = error in function block
Fig. 7-21: Function block KRC_WriteToolData
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 rising edge of the
signal.
ToolData FRAME The data structure FRAME contains the following TOOL data:
 X, Y, Z: Origin of the TOOL coordinate system relative to
the FLANGE coordinate system
 A, B, C: Orientation of the TOOL coordinate system rela-
tive to the FLANGE coordinate system
(>>> "FRAME" Page 27)