Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
This initialization must be carried out when the program is executed for the first
time after a restart of the PLC. It is therefore advisable to link the
FirstScanBit
signal to the
S:FS
system signal of the PLC.
Memory
Inputs
Outputs
7.6.2
Writing a non-PLC-specific structure into PLC-specific communication
Description
The function block KRC_WriteAxisGroup translates the non-PLC-specific
structure of an axis group into the Rockwell-specific interface to the robot con-
troller.
The function block KRC_ReadAxisGroup must always be called at
the start of the program. Access to the axis group structure is only
permissible between KRC_ReadAxisGroup and
KRC_WriteAxisGroup.
The function block may only be instanced once per robot. In the case
of multiple instancing, the signals of the most recently called function
block are output.
Fig. 7-2: Function block KRC_ReadAxisGroup
Parameter
Type
Description
KRC_AxisGroup
RefArr
AXIS_GROUP_
REF_ARR
Reference to the internal structure of the axis group
imxA_IN
MXA_SYNC_IO
Structure map of the digital Boolean inputs
KRC4_Input
INT
Structure map of the input range of the robot controller
Parameter
Type
Description
AxisGroupIdx
INT
Index of axis group
FirstScanBit
BOOL
TRUE = initialize the internal data structures of
the function block.
Parameter
Type
Description
ErrorID
DINT
Error number
Error
BOOL
TRUE = error in function block
The function block KRC_WriteAxisGroup must always be called at
the end of the program. Access to the axis group structure is only per-
missible between KRC_ReadAxisGroup and KRC_WriteAxisGroup.
The function block may only be instanced once per robot. In the case
of multiple instancing, the signals of the most recently called function
block are output.
