Writing load data

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

Description

The function block KRC_WriteLoadData writes the load data of the robot (payload data or supplementary load data).

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 writing the payload data or number for writing the supplementary load data 1 … 16: TOOL_DATA[1 … 16] -1: Supplementary load A1 -2: Supplementary load A2 -3: Supplementary load A3
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
BufferMode	INT	Mode in which the statement is executed 0: DIRECT 1: ABORTING 2: BUFFERED (>>> BufferMode)

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