Reading The Current Robot Acceleration - Kuka .PLC mxAutomation Logix 1.0 Manual

Inputs
Outputs
7.6.10

Reading the current robot acceleration

The function block KRC_ReadActualAcceleration reads the current Cartesian
Description
acceleration at the TCP of the robot $ACC_CAR_ACT.
Fig. 7-11: Function block KRC_ReadActualAcceleration
Memory
Parameter Type
KRC_AxisGroup AXIS_GROUP_
RefArr REF_ARR
Inputs
Outputs
Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
Parameter Type
AxisGroupIdx INT
ExecuteCmd BOOL
Parameter Type
ErrorID DINT
A1 ... A6 INT
E1 ... E6 INT
Done BOOL
Error BOOL
The current Cartesian acceleration about angles A, B, C is not evalu-
ated.
Description
Reference to the internal structure of the axis group
Parameter Type
AxisGroupIdx INT
ExecuteCmd BOOL
Parameter Type
ErrorID DINT
ACC_ABS REAL
X, Y, Z REAL
Description
Index of axis group
The statement is executed in the case of a ris-
ing edge of the signal.
Description
Error number
Current velocity of robot axis A1 ... A6 in the
main run (unit: %)
Current velocity of external axis E1 ... E6 in
the main run (unit: %)
TRUE = statement has been executed
TRUE = error in function block
Description
Index of axis group
The statement is executed in the case of a ris-
ing edge of the signal.
Description
Error number
Current Cartesian acceleration relative to the
absolute value of the overall acceleration lX +
2
Y +Zl (unit: m/s )
Current Cartesian acceleration in the X, Y, Z
2
direction (unit: m/s )
7 Programming
39 / 123