Reading BASE data

Description

The function block KRC_ReadBaseData reads the BASE data of the robot.

Reading BASE data 1:
Function block KRC_ReadBaseData

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.

BaseNo

INT

Number of the BASE coordinate system

  • 1 … 32: BASE_DATA[1 … 32]

Outputs

Parameter

Type

Description

Done

BOOL

TRUE = statement has been executed

BaseData

FRAME

The data structure FRAME contains the following BASE data:

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

(>>> FRAME)

Error

BOOL

TRUE = error in function block

ErrorID

DINT

Error number