Kuka KUKA.PLC mxAutomation Logix 1.0, Manual

Page: 60 / 123

60 / 123
Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Outputs
7.6.30 Activating interrupts
Description
The function block KRC_ActivateInterrupt activates a previously declared in-
terrupt. There are 8 predefined interrupts available for this.
An interrupt cannot be processed until the interrupt has been activated by the
main run of the robot interpreter. The function block KRC_WaitForInput can be
used to monitor and check whether an interrupt is active.
Memory
Reaction INT Reaction to the interrupt
 0
: BRAKE F + HALT
 1
: BRAKE + HALT
 2
: BRAKE F + WAIT FOR $IN[
Input
]<>
InputValue
 3
: BRAKE + WAIT FOR $IN[
Input
]<>
InputValue
 4
: BRAKE F + WAIT FOR KRC_Continue
 5
: BRAKE + WAIT FOR KRC_Continue
 6
: BRAKE F + WAIT FOR $IN[
Input
]<>
InputValue
AND
KRC_Continue
 7
: BRAKE + WAIT FOR $IN[
Input
]<>
InputValue
AND
KRC_Continue
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.
Aborted BOOL TRUE = statement was aborted before it was processed in
the advance run
Error BOOL TRUE = error in function block
Fig. 7-31: Function block KRC_ActivateInterrupt