Reading the current robot acceleration

Description

The function block KRC_ReadActualAcceleration reads the current Cartesian acceleration at the TCP of the robot.

	The current Cartesian acceleration about angles A, B, C is not evaluated.

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
ExecuteCmd	BOOL	The statement is executed in the case of a rising edge of the signal.

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.

Parameter	Type	Description
Done	BOOL	TRUE = statement has been executed
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number
ACC_ABS	REAL	Current Cartesian acceleration relative to the absolute value of the overall acceleration ($ACC_CAR_ACT on the robot controller) Unit: m/s²
X, Y, Z	REAL	Current Cartesian acceleration in the X, Y, Z directions Unit: m/s²
A, B, C	REAL	Current Cartesian acceleration about angles A, B, C 0 m/s² (not calculated)