Reading the current path velocity

Description

The function block KRC_ReadActualVelocity reads the current actual velocity at the TCP of the robot. This is updated cyclically.

Reading the current path velocity 1:

The current path velocity can only be read for CP motions in program mode.

Reading the current path velocity 2:
Function block KRC_ReadActualVelocity

Inputs

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

  • 1 … 5

Outputs

Parameter

Type

Description

Valid

BOOL

TRUE = data are valid

Value

REAL

Current path velocity ($VEL_ACT on the robot controller)

Unit: m/s