Structures for motion programming (STRUCT)

Predefined data structures (STRUCT) can be used in the PLC library.

Overview

Structure	Description
APO	Contour parameters for a Move motion command (>>> APO)
COORDSYS	Coordinate system to which the Cartesian coordinates of the target position refer during a Move or Jog motion command. (>>> COORDSYS)
E6AXIS	Angle or translation values of the axes of an axis group for a MoveAxis motion command (>>> E6AXIS)
E6POS	Cartesian coordinates of the target position for a Move or Jog motion command (>>> E6POS)
FRAME	Spatial coordinates and orientation for the TOOL or BASE coordinate system (>>> FRAME)
POSITION	Contains all positions as well as the coordinate system to which a point refers. (>>> POSITION)
POSITION_ARRAY	Field from 100 positions of structure type POSITION (>>> POSITION_ARRAY)

APO

Element	Type	Description
PTP_MODE	INT	Specifies whether and how the end point of a PTP movement is contoured. 0: Without contouring (default) 1: Causes the end point to be contoured. For PTP-PTP contouring, the specification C_PTP is sufficient. During PTP-CP contouring, i.e. if a LIN or CIRC block follows after the contoured PTP block, another contour parameter must be specified. 2: PTP CP contouring with distance parameters 3: PTP CP contouring with orientation parameters 4: PTP CP contouring with velocity parameters
CP_MODE	INT	Specifies whether and how the end point of a CP movement (LIN, CIRC) is contoured. 0: Without contouring (default) 1: Contouring with distance parameters 2: Contouring with orientation parameter 3: Contouring with velocity parameters
CPTP	INT	Contouring distance for PTP movements (= distance before the end point at which contouring starts at the earliest). 1 … 100 % Maximum distance 100%: half the distance between the end point and the target point, referred to the contour of the PTP movement without contouring.
CDIS	REAL	Distance parameter (unit: mm) The contouring starts at the earliest when the distance to the end point falls below the value specified here.
CORI	REAL	Orientation parameter (unit: °) Contouring starts at the earliest when the dominant orientation angle (turning or tilting the longitudinal axis of the tool) falls below the angular distance to the end point specified here.
CVEL	INT	Velocity parameter 1 … 100 % The contour parameter specifies at what percentage of the programmed velocity the contouring starts at the earliest in the deceleration phase towards the end point.

COORDSYS

Element	Type	Description
Tool	INT	TOOL coordinate system number -1: Coordinate system is not changed 0: NULLFRAME 1 … 16: TOOL_DATA[1 … 16] Default: -1
Base	INT	Number of the BASE coordinate system -1: Coordinate system is not changed 0: NULLFRAME 1 … 32: BASE_DATA[1 … 32] Default: -1
IPO_MODE	INT	Interpolation mode 0: The tool is mounted on the mounting flange. 1: The tool is a stationary tool. Default: 0

Element

Type

Description

Tool

INT

TOOL coordinate system number

-1: Coordinate system is not changed
0: NULLFRAME
1 … 16: TOOL_DATA[1 … 16]

Default: -1

Base

INT

Number of the BASE coordinate system

-1: Coordinate system is not changed
0: NULLFRAME
1 … 32: BASE_DATA[1 … 32]

Default: -1

IPO_MODE

INT

Interpolation mode

0: The tool is mounted on the mounting flange.
1: The tool is a stationary tool.

Default: 0

E6AXIS

Element	Type	Description
A1	REAL	Position of robot axis A1 (unit: mm or °)
A2	REAL	Position of robot axis A2 (unit: mm or °)
A3	REAL	Position of robot axis A3 (unit: mm or °)
A4	REAL	Position of robot axis A4 (unit: mm or °)
A5	REAL	Position of robot axis A5 (unit: mm or °)
A6	REAL	Position of robot axis A6 (unit: mm or °)
E1	REAL	Position of additional axis E1 (optional), (unit: mm or °)
E2	REAL	Position of additional axis E2 (optional), (unit: mm or °)
E3	REAL	Position of additional axis E3 (optional), (unit: mm or °)
E4	REAL	Position of additional axis E4 (optional), (unit: mm or °)
E5	REAL	Position of additional axis E5 (optional), (unit: mm or °)
E6	REAL	Position of additional axis E6 (optional), (unit: mm or °)

E6POS

Element	Type	Description
X	REAL	Position on the X-axis (unit: mm)
Y	REAL	Position on the Y-axis (unit: mm)
Z	REAL	Position on the Z-axis (unit: mm)
A	REAL	Rotation around the Z-axis -180° … +180°
B	REAL	Rotation around the Y-axis -180° … +180°
C	REAL	Rotation around the X-axis -180° … +180°
S	INT	Status	The values of position (X, Y, Z) and orientation (A, B, C) of the TCP are not sufficient to unambiguously define the position of a robot, since several axis positions are still possible with the same TCP. Status and Turn are used to define a unique position from several possible axis positions. Further information on status and turn can be found in the operating and programming instructions of the KUKA System Software (KSS).
T	INT	Turn
E1	REAL	Position of additional axis E1 (optional), (unit: mm or °)
E2	REAL	Position of additional axis E2 (optional), (unit: mm or °)
E3	REAL	Position of additional axis E3 (optional), (unit: mm or °)
E4	REAL	Position of additional axis E4 (optional), (unit: mm or °)
E5	REAL	Position of additional axis E5 (optional), (unit: mm or °)
E6	REAL	Position of additional axis E6 (optional), (unit: mm or °)

FRAME

Element	Type	Description
X	REAL	Position on the X-axis (unit: mm)
Y	REAL	Position on the Y-axis (unit: mm)
Z	REAL	Position on the Z-axis (unit: mm)
A	REAL	Z-axis orientation -180° … +180°
B	REAL	Y-axis orientation -180° … +180°
C	REAL	X-axis orientation -180° … +180°

POSITION

Element	Description
COORDSYS	(>>> COORDSYS)
E6POS	(>>> E6POS)
E6AXIS	(>>> E6AXIS)

POSITION_ARRAY

Element	Description
POSITION	1 … 100 (>>> POSITION)

Element

Description

POSITION

1 … 100

(>>> POSITION)