Kuka KUKA.PLC mxAutomation Logix 1.0, Manual

Page: 48 / 123

48 / 123
Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Outputs
7.6.20 Writing TOOL data
Description
The function block KRC_WriteToolData writes the TOOL data of the robot.
Memory
Inputs
Parameter Type Description
ToolData FRAME The data structure FRAME contains the follow-
ing TOOL data:

X, Y, Z: Origin of the TOOL coordinate sys-
tem relative to the FLANGE coordinate sys-
tem

A, B, C: Orientation of the TOOL coordinate
system relative to the FLANGE coordinate
system
( >>> "FRAME" Page 27)
ErrorID DINT Error number
Done BOOL TRUE = statement has been executed
Error BOOL TRUE = error in function block
Fig. 7-21: Function block KRC_WriteToolData
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.
ToolData FRAME The data structure FRAME contains the following TOOL data:

X, Y, Z: Origin of the TOOL coordinate system relative to
the FLANGE coordinate system

A, B, C: Orientation of the TOOL coordinate system rela-
tive to the FLANGE coordinate system
( >>> "FRAME" Page 27)