Reading the load data

Description

The function block KRC_ReadLoadData reads the load data of the robot (payload data or supplementary load data). Each tool of the robot controller has its own tool load data. The supplementary load data are valid for the entire robot.

Reading the load data 1:
Function block KRC_ReadLoadData

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.

Tool

INT

Number of the TOOL coordinate system for reading the payload data or number for reading the supplementary load data

  • 1 … 16: TOOL_DATA[1 … 16]
  • -1: Supplementary load A1
  • -2: Supplementary load A2
  • -3: Supplementary load A3

Outputs

Parameter

Type

Description

Done

BOOL

TRUE = statement has been executed

M

REAL

Mass

X, Y, Z

REAL

Position of the center of gravity relative to the flange

A, B, C

REAL

Orientation of the principal inertia axes relative to the flange

JX, JY, JZ

REAL

Mass moments of inertia

Error

BOOL

TRUE = error in function block

ErrorID

DINT

Error number