Selecting the tool, base and interpolation mode
Description
The function block KRC_SetCoordSys can be used to set the tool, base and interpolation mode without having to execute a motion at the same time. This function is required, for example, to read the current position in different coordinate systems.
 | Further information about tool and base in the robot system is contained in the operating and programming instructions for the KUKA System Software (KSS). |
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. |
|
CoordinateSystem |
COORDSYS |
Coordinate system to which the specified values refer (>>> COORDSYS) |
|
BufferMode |
INT |
Mode in which the statement is executed
(>>> BufferMode) |
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Busy |
BOOL |
TRUE = statement is currently being transferred or has already been transferred |
|
Done |
BOOL |
TRUE = statement has been executed |
|
Aborted |
BOOL |
TRUE = statement has been aborted |
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |