Calculating axis angles from the Cartesian robot position (advanced)
Description
The function block KRC_InverseAdvanced uses a specified Cartesian robot position to calculate the axis angles. 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. |
|
Position |
E6POS |
Cartesian robot position Note: External axes E4 to E6 are not taken into consideration in the calculation. |
|
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. |
|
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 |
|
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 |