Kuka KUKA.PLC mxAutomation Logix 1.0, Manual

Page: 82 / 123

82 / 123
Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Outputs
7.7.8 Jogging to a relative end position
Description
The function block KRC_JogLinearRelative can be used to move to a Carte-
sian end position with a linear motion. The coordinates of the end position are
relative to the current position. Status and Turn of the end position are ignored,
i.e. the axis positions at the end position are not unambiguously defined.
The function is always executed in ABORTING mode, i.e. all active motions
and buffered statements are canceled, the robot is braked and the linear mo-
tion is then executed.
Acceleration INT Acceleration
 0 … 100%
Refers to the maximum value specified in the machine
data. The maximum value depends on the robot type and
the selected operating mode.
Default:
0%
(= acceleration is not changed)
OriType INT Orientation control of the TCP
 0
: VAR
 1
: CONSTANT
 2
: JOINT
( >>> "OriType" Page 28)
CircType INT Orientation control during the circular motion
 0
: BASE
 1
: PATH
( >>> "CircType" Page 28)
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 trans-
ferred or has already been transferred
Active BOOL TRUE = motion is currently being executed
Done BOOL TRUE = motion has stopped
Aborted BOOL TRUE = statement/motion has been aborted
Error BOOL TRUE = error in function block