Teaching points
Description
The function block KRC_TouchUP can be used to teach a point directly in the PLC. Tool, base and interpolation mode of this point are automatically saved by the function block.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
PositionArray |
POSITION_ |
Array with the taught points and the corresponding coordinate systems Note: The array can be used directly in the PLC. (>>> POSITION_ |
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteCmd |
BOOL |
TRUE = the point is taught |
|
Index |
INT |
Number under which the taught point is saved in the PLC
|
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Done |
BOOL |
TRUE = statement has been executed |
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |