Reading the current axis position
Description
The function block KRC_ReadActualAxisPosition reads the current axis-specific robot position. This is updated cyclically.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Valid |
BOOL |
TRUE = data are valid |
|
AxisPosition |
E6AXIS |
Current axis-specific robot position ($AXIS_ACT on the robot controller) The data structure E6AXIS contains all the axis positions of the axis group. |
|
A1 … A6 |
REAL |
Current position of robot axes A1 to A6 |
|
E1 … E6 |
REAL |
Current position of external axes E1 to E6 |