Displaying the current robot position in a different coordinate system
Description
The function block KRC_ActivatePosConversion can be used to display the current robot position relative to the selected TOOL or BASE coordinate system or interpolation mode.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteCmd |
BOOL |
The statement is executed in the case of a rising edge of the signal. |
|
ActivateConversion |
BOOL |
TRUE = current robot position is displayed in the selected coordinate system. FALSE = current robot position is displayed in the current coordinate system of the robot controller. |
|
CoordSysToDisplay |
COORDSYS |
Coordinate system in which the current robot position is to be displayed. (>>> 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 |
|
Aborted |
BOOL |
TRUE = statement has been aborted |
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |