Reading TOOL data

Description

The function block KRC_ReadToolData reads the TOOL data of the robot.

Reading TOOL data 1:
Function block KRC_ReadToolData

Inputs

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.

ToolNo

INT

Number of the TOOL coordinate system

  • 1 … 16: TOOL_DATA[1 … 16]

Outputs

Parameter

Type

Description

Done

BOOL

TRUE = statement has been executed

ToolData

FRAME

The data structure FRAME contains the following TOOL data:

  • X, Y, Z: Origin of the TOOL coordinate system relative to the FLANGE coordinate system
  • A, B, C: Orientation of the TOOL coordinate system relative to the FLANGE coordinate system

(>>> FRAME)

Error

BOOL

TRUE = error in function block

ErrorID

DINT

Error number