Kuka KUKA.PLC mxAutomation Logix 1.0

52 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Outputs
7.6.24 Writing load data
Description The function block KRC_WriteLoadData writes the load data of the robot (pay-
load data or supplementary load data).
ExecuteCmd BOOL The statement is executed in the case of a ris-
ing edge of the signal.
Tool INT Number of the TOOL coordinate system for
reading the payload data or number for reading
the supplementary load data
 1 … 16: TOOL_DATA[1 … 16]
 -1: supplementary load A1
 -2: supplementary load A2
 -3: supplementary load A3
Parameter Type Description
Parameter Type Description
M REAL Mass
X, Y, Z REAL Position of the center of gravity relative to the
flange
A, B, C REAL Orientation of the principal inertia axes relative
to the flange
JX, JY, JZ REAL Mass moments of inertia
ErrorID DINT Error number
Done BOOL TRUE = statement has been executed
Error BOOL TRUE = error in function block