Reading the configuration of Cartesian workspaces

Description

The function block KRC_ReadWorkspace reads the configuration of the Cartesian workspaces for the robot.

Reading the configuration of Cartesian workspaces 1:
Function block KRC_ReadWorkspace

Inputs

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

  • 1 … 5

ExecuteCmd

BOOL

Starts/buffers the motion in the case of a rising edge of the signal.

WorkspaceNo

INT

Number of workspace

  • 1 … 8

Outputs

Parameter

Type

Description

Done

BOOL

TRUE = statement has been executed

WorkspaceMode

INT

Mode for workspaces

  • 0: #OFF
  • 1: #INSIDE
  • 2: #OUTSIDE
  • 3: #INSIDE_STOP
  • 4: #OUTSIDE_STOP

Note: Further information about the mode for workspaces is contained in the operating and programming instructions for the KUKA System Software (KSS).

WorkspaceData

BOX

Data of the workspace

(>>> Data of a Cartesian workspace)

Error

BOOL

TRUE = error in function block

ErrorID

DINT

Error number