Calculating the Cartesian robot position from the axis angles (advanced)
Description
The function block KRC_ForwardAdvanced uses specified axis angles to calculate the Cartesian robot position. The TOOL and BASE coordinate systems and the interpolation mode are included in the calculation.
The function is executed automatically in BufferMode 0 and can therefore be used independently of the motion execution.
 | The specified value for the interpolation mode must match the current value on the robot controller. |
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. |
|
CoordinateSystem |
COORDSYS |
Specification of the TOOL and BASE coordinate system and the interpolation mode (>>> COORDSYS) |
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 Note: External axes E4 to E6 are not taken into consideration in the calculation. |
|
Aborted |
BOOL |
TRUE = statement has been aborted |
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |