Kuka KUKA.PLC mxAutomation Logix 1.0

85 / 123Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Inputs
Outputs
Parameter Type Description
KRC_AxisGroup
RefArr
AXIS_GROUP_
REF_ARR
Reference to the internal structure of the axis group
Parameter Type Description
Position E6POS Coordinates of the Cartesian end position
(>>> "E6POS" Page 26)
The data structure E6POS contains all components of
the end position (= position of the TCP relative to the ori-
gin of the selected coordinate system).
CoordinateSys-
tem
COORDSYS Coordinate system to which the Cartesian coordinates of
the end position refer
(>>> "COORDSYS" Page 26)
AxisGroupIdx INT Index of axis group
ExecuteCmd BOOL Starts/buffers the motion in the case of a rising edge of
the signal.
Velocity INT Velocity
 0 … 100%
Refers to the maximum value specified in the machine
data. The maximum value depends on the robot type and
the selected operating mode.
Default: 0% (= velocity is not changed)
Acceleration INT Acceleration
 0 … 100%
Refers to the maximum value specified in the machine
data. The maximum value depends on the robot type and
the selected operating mode.
Default: 0% (= acceleration is not changed)
OriType INT Orientation control of the TCP
 0: VAR
 1: CONSTANT
 2: JOINT
(>>> "OriType" Page 28)
Parameter Type Description
ErrorID DINT Error number
Busy BOOL TRUE = statement is currently being trans-
ferred or has already been transferred
Active BOOL TRUE = motion is currently being executed
Done BOOL TRUE = motion has stopped
Aborted BOOL TRUE = statement/motion has been aborted
Error BOOL TRUE = error in function block