Kuka KUKA.PLC mxAutomation Logix 1.0, Manual

Page: 50 / 123

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)