Configuring load data determination

Description

The function block KRC_LDDconfig is used to configure load data determination.

A precondition for execution of the function block is that the function block KRC_LDDcheckPos has been successfully executed beforehand.

Configuring load data determination 1: — Function block KRC_LDDconfig

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
ExecuteCmd	BOOL	The statement is executed in the case of a rising edge of the signal.
LoadA3Settings	INT	0: No supplementary load on axis 3 1: Maximum permissible load on axis 3 for the robot ($DEF_LA3_M, $DEF_LA3_CM, $DEF_LA3_J) 2: Values from LOAD_A3_DATA defined during start-up are used (default) 3: Transferred data from the function block are applied and saved in the file $config.dat
WarmUp	BOOL	TRUE = a warm-up is carried out before load data determination. TRUE = no warm-up is carried out before load data determination.
M_A3	REAL	Mass of the supplementary load on axis 3
X_A3	REAL	Position of the center of mass of the supplementary load on axis 3 relative to the FLANGE coordinate system
Y_A3
Z_A3
A_A3	REAL	Orientation of the center of mass of the supplementary load on axis 3 relative to the FLANGE coordinate system
B_A3
C_A3
JX_A3	REAL	Mass moments of inertia of the supplementary load on axis 3 relative to the FLANGE coordinate system
JY_A3
JZ_A3
Mass	REAL	≤ 0: Payload is automatically determined > 0: Payload is already known from CAD data or a measurement

Outputs

Parameter	Type	Description
Busy	BOOL	TRUE = statement is currently being transferred or has already been transferred
Done	BOOL	TRUE = statement has been executed
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number