Calling a mastering test
Description
The function block KRC_MasRef is used to execute the mastering test.
After the function block has been called, the robot moves in a linear direction from the current position to the reference position. Once the robot has reached the reference position, the current axis values are compared with the axis values which have been saved in KUKA.SafeOperation. The robot then moves back to the start position (= position before the function block was called).
 | The reference position is defined in the function block with the input parameter Position and corresponds to the reference position defined with KUKA.SafeOperation. |
If the deviation between the current position and the reference position is too great, the mastering test has failed.
| Detailed information about the mastering test can be found in the KUKA.SafeOperation documentation. |
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteCmd |
BOOL |
Starts/buffers the motion in the case of a rising edge of the signal. |
|
Position |
E6POS |
Coordinates of the Cartesian reference position (>>> E6POS) The data structure E6POS contains all components of the reference position (= position of the TCP relative to the origin of the selected coordinate system). |
|
Velocity |
INT |
Velocity
Refers to the maximum value specified in the machine data. The maximum value is dependent on the robot type. Default: 0% (= velocity is not changed) |
|
Acceleration |
INT |
Acceleration
Refers to the maximum value specified in the machine data. The maximum value is dependent on the robot type. Default: 0% (= acceleration is not changed) |
|
CoordinateSystem |
COORDSYS |
Coordinate system to which the Cartesian coordinates of the reference position refer (>>> COORDSYS) |
|
BufferMode |
INT |
Mode in which the statement is executed
(>>> BufferMode) |
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Busy |
BOOL |
TRUE = statement is currently being transferred 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 |
|
ErrorID |
DINT |
Error number |
|
MasRefRequest |
BOOL |
TRUE = mastering test has been requested internally by the robot controller |