Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Outputs
Parameter
Type
Signal name (KRL)
Description
AxisGroupIdx
INT
—
Index of axis group
MOVE_ENABLE
BOOL
$MOVE_ENABLE
TRUE = motion enable for the robot
Note
: This system variable is monitored
by the robot controller in all operating
modes.
CONF_MESS
BOOL
$CONF_MESS
TRUE = acknowledgement of error mes-
sages
DRIVES_ON
BOOL
$DRIVES_ON
TRUE = activation of the robot drives
DRIVES_OFF
BOOL
$DRIVES_OFF
TRUE = deactivation of the robot drives
EXT_START
BOOL
$EXT_START
TRUE = start or continuation of robot pro-
gram execution
RESET
BOOL
—
Selects the mxAutomation robot program
in the case of a rising edge of the signal
and starts it. First, all buffered statements
are aborted.
ENABLE_T1
BOOL
—
TRUE = enabling of T1 mode
The signal $MOVE_ENABLE is sup-
pressed in the absence of enabling. The
robot cannot be moved.
ENABLE_T2
BOOL
—
TRUE = enabling of T2 mode
The signal $MOVE_ENABLE is sup-
pressed in the absence of enabling. The
robot cannot be moved.
ENABLE_AUT
BOOL
—
TRUE = enabling of Automatic mode
The signal $MOVE_ENABLE is sup-
pressed in the absence of enabling. The
robot cannot be moved.
ENABLE_EXT
BOOL
—
TRUE = enabling of Automatic External
mode
The signal $MOVE_ENABLE is sup-
pressed in the absence of enabling. The
robot cannot be moved.
Parameter
Type
Signal name (KRL)
Description
Valid
BOOL
—
TRUE = data are valid
RC_RDY1
BOOL
$RC_RDY1
TRUE = robot controller ready for pro-
gram start
ALARM_STOP
BOOL
$ALARM_STOP
FALSE = robot stop by EMERGENCY
STOP
USER_SAFE
BOOL
$USER_SAF
FALSE = operator safety violated
PERI_RDY
BOOL
$PERI_RDY
TRUE = robot drives activated
ROB_CAL
BOOL
$ROB_CAL
TRUE = robot axes mastered
IO_ACTCONF
BOOL
$IO_ACTCONF
TRUE = Automatic External interface
active
STOPMESS
BOOL
$STOPMESS
TRUE = safety circuit interrupted (robot
fault)
INT_E_STOP
BOOL
Int. E-Stop
TRUE = external EMERGENCY STOP
FALSE = EMERGENCY STOP button
pressed on the smartPAD
