Writing BASE data
Description
The function block KRC_WriteBaseData writes the BASE 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. |
BaseNo |
INT |
Number of the BASE coordinate system
|
BaseData |
FRAME |
The data structure FRAME contains the following BASE data:
(>>> FRAME) |
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 |