Calculating axis angles from the Cartesian robot position
Description
The function block KRC_Inverse uses a specified Cartesian robot position to calculate the axis angles.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteCmd |
BOOL |
Starts/buffers the statement at a rising edge of the signal. |
|
Position |
E6POS |
Cartesian robot position |
|
PosValidS |
BOOL |
TRUE = The Status value contained in the Position parameter is valid. FALSE = The Status value is unknown. |
|
PosValidT |
BOOL |
TRUE = The Turn value contained in the Position parameter is valid. FALSE = The Turn value is unknown. |
|
Start_Axis |
E6Axis |
Axis-specific values at the start point of the motion The start point is the axis-specific position from which the robot moves to the position that is to be calculated. |
|
CheckSoftEnd |
BOOL |
Checks whether the values from the Start_Axis parameter 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 |
|
AxisPosition |
E6AXIS |
Axis angles that have been calculated from the specified Cartesian robot position (>>> E6AXIS) The data structure E6AXIS contains all the axis positions of the axis group. |
|
Aborted |
BOOL |
TRUE = statement was aborted before it was processed in the advance run |
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |