Kuka KUKA.PLC mxAutomation Logix 1.0, Manual

Page: 67 / 123

67 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Outputs
7.6.35 Canceling a program
Description
The function block KRC_Abort cancels all active and buffered statements and
motions.
Memory
Inputs
Value BOOL TRUE = activate output
FALSE = deactivate output
Pulse REAL Length of the pulse
 0.0 s
No pulse active
 0.1 … 3.0 s
Pulse interval = 0.1 s; pulse durations outside this range
of values trigger a program stop.
BufferMode INT Mode in which the statement is executed
 1
: ABORTING
 2
: BUFFERED
( >>> "BufferMode" Page 27)
Parameter Type Description
Parameter Type Description
ErrorID DINT Error number
Busy BOOL TRUE = statement is currently being transferred or has
already been transferred
Done BOOL TRUE = statement has been processed in the advance run
Note
: The statement can no longer be aborted. Exception:
Program is deselected or reset. The signal does not indicate
whether the switching action has really been triggered.
Aborted BOOL TRUE = statement was aborted before it was processed in
the advance run
Error BOOL TRUE = error in function block
Fig. 7-36: Function block KRC_Abort
Parameter Type Description
KRC_AxisGroup
RefArr AXIS_GROUP_
REF_ARR Reference to the internal structure of the axis group
Parameter Type Description
AxisGroupIdx INT Index of axis group
ExecuteCmd BOOL The statement is executed in the case of a ris-
ing edge of the signal.