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Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
CircType
Orientation control for circular motion
OriType
Orientation control for the TCP
Status
Current state of the mxA interface (function block KRC_ReadMXAStatus)
7.5
Programming tips for KUKA.PLC mxAutomation
1
ABORTING
The statement is executed immediately by the robot inter-
preter (main program). First, all active motions and buffered
statements are aborted and the robot is braked to a stand-
still.
2
BUFFERED
The statement is buffered. Buffered statements are executed
by the robot interpreter (main program) according to the
FIFO principle.
Value
Name
Description
Value
Name
Description
0
BASE
Base-related orientation control during a circular motion
1
PATH
Path-related orientation control during a circular motion
Value
Name
Description
0
VAR
The orientation of the TCP changes continuously during the
motion.
1
CONSTANT
The orientation of the TCP remains constant during the
motion.
2
JOINT
The orientation of the TCP changes continuously during the
motion, but not uniformly. This is done by linear transforma-
tion (axis-specific motion) of the wrist axis angles.
Note
: This orientation type is not suitable if a specific orienta-
tion must be maintained exactly.
Value
Name
Description
0
Invalid
No function blocks can be processed.
Frequent causes:
Submit interpreter stopped or deselected
I/O error due to incorrect bus configuration
Robot controller not started.
1
Error
An mxA error message is active.
The error message must be reset with the function block
KRC_MessageReset.
2
ProgramStopped
Robot interpreter is not active (main program has been
stopped or deselected).
3
StandBy
Robot interpreter is active and waiting for statements, e.g.
waiting for an input.
4
Executing
Robot interpreter is active (main program is being executed).
5
Aborting
Robot stopped and all statements aborted.
The
MxA_Rockwell_Sample.ACD
template supplied on the USB
stick (
Template
folder) contains all the function blocks and a pro-
gramming example with the fundamental function blocks. It is advis-
able to use this template for creating an mxAutomation robot program.
