Reading TOOL data
Description
The function block KRC_ReadToolData reads the TOOL data 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. |
ToolNo |
INT |
Number of the TOOL coordinate system
|
Outputs
Parameter |
Type |
Description |
---|---|---|
Done |
BOOL |
TRUE = statement has been executed |
ToolData |
FRAME |
The data structure FRAME contains the following TOOL data:
(>>> FRAME) |
Error |
BOOL |
TRUE = error in function block |
ErrorID |
DINT |
Error number |