Kuka KUKA.PLC mxAutomation Logix 1.0, Manual

Page: 53 / 123

53 / 123 Issued: 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