Kuka KUKA.PLC mxAutomation Logix 1.0

50 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Outputs
7.6.22 Writing BASE data
Description The function block KRC_WriteBaseData writes the BASE data of the robot.
Memory
Inputs
Parameter Type Description
BaseData FRAME The data structure FRAME contains the follow-
ing BASE data:
 X, Y, Z: Origin of the BASE coordinate sys-
tem relative to the WORLD coordinate sys-
tem
 A, B, C: Orientation of the BASE coordinate
system relative to the WORLD coordinate
system
(>>> "FRAME" Page 27)
ErrorID DINT Error number
Done BOOL TRUE = statement has been executed
Error BOOL TRUE = error in function block
Fig. 7-23: Function block KRC_WriteBaseData
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.
BaseData FRAME The data structure FRAME contains the following BASE data:
 X, Y, Z: Origin of the BASE coordinate system relative to
the WORLD coordinate system
 A, B, C: Orientation of the BASE coordinate system rela-
tive to the WORLD coordinate system
(>>> "FRAME" Page 27)