Calculating the Cartesian robot position from the axis angles
Description
The function block KRC_Forward uses specified axis angles to calculate the Cartesian robot position.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteCmd |
BOOL |
Starts/buffers the statement at a rising edge of the signal. |
|
Axis_Values |
E6AXIS |
Axis-specific values that are to be converted to Cartesian coordinates (>>> E6AXIS) The data structure E6AXIS contains the angle values or translation values for all axes of the axis group in this position. |
|
CheckSoftEnd |
BOOL |
Checks whether the specified axis angles lie within the software limit switches. If not, an error number is displayed. |
|
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 |
|
Done |
BOOL |
TRUE = statement has been executed |
|
Position |
E6POS |
Cartesian robot position calculated from the specified axis angles |
|
Aborted |
BOOL |
TRUE = statement has been aborted |
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |