Kuka KUKA.PLC mxAutomation Logix 1.0

53 / 123Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Memory
Inputs
Fig. 7-25: Function block KRC_WriteLoadData
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.
Tool INT Number of the TOOL coordinate system for writing the pay-
load data or number for writing the supplementary load data
 1 … 16: TOOL_DATA[1 … 16]
 -1: supplementary load A1
 -2: supplementary load A2
 -3: supplementary load A3
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