Reading the current axis velocity
Description
The function block KRC_ReadActualAxisVelocity reads the current axis-specific velocity of the robot.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteCmd |
BOOL |
The statement is executed in the case of a rising edge of the signal. |
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Done |
BOOL |
TRUE = statement has been executed |
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |
|
A1 … A6 |
INT |
Current motor speed (-100% … +100%) of A1 … A6, relative to the maximum motor speed ($VEL_AXIS_MA on the robot controller) Note: The actual resulting speed of the robot axis ($VEL_AXIS_ACT on the robot controller) is dependent on the gear ratio. |
|
E1 … E6 |
INT |
Current motor speed (-100% … +100%) of E1 … E6, relative to the maximum motor speed ($VEL_AXIS_MA on the robot controller) Note: The actual resulting speed of the external axis is dependent on the gear ratio. |