Reading the current robot position
Description
The function block KRC_ReadActualPosition reads the current Cartesian actual position of the robot. This is updated cyclically.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Valid |
BOOL |
TRUE = data are valid |
|
Position |
E6POS |
Current Cartesian actual position ($POS_ACT on the robot controller) The data structure E6POS contains all components of the Cartesian actual position (= position of the TCP relative to the origin of the BASE coordinate system). |
|
X, Y, Z |
REAL |
Current actual position in the X, Y, Z directions |
|
A, B, C |
REAL |
Orientation A, B, C in the current actual position |
|
Status |
INT |
Status of the current actual position |
|
Turn |
INT |
Turn of the current actual position |
|
Tool |
INT |
Number of the currently used TOOL coordinate system ($ACT_TOOL_C on the robot controller) |
|
Base |
INT |
Number of the currently used BASE coordinate system ($ACT_BASE_C on the robot controller) |
|
IPOMode |
INT |
Current interpolation mode ($IPO_MODE_C on the robot controller) |