Kuka KUKA.PLC mxAutomation Logix 1.0, Manual

Page: 65 / 123

65 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Outputs
7.6.34 Activating a path-related switching action (TRIGGER WHEN PATH)
Description
The function block KRC_SetPathTrigger triggers a path-related switching ac-
tion in the case of CP motions.
The Trigger triggers a defined statement. The statement refers to the end point
of the motion block in which the Trigger is situated in the program. The state-
ment is executed parallel to the robot motion.
The statement can be shifted in time and/or space. It is then not triggered ex-
actly at the end point, but beforehand or afterwards.
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
Path triggers can only be activated before CP motions. If the subse-
quent motion is not a CP motion, the robot controller issues an error
message.
If a trigger calls a subprogram, it counts as an active interrupt until the
subprogram has been executed. Up to 16 interrupts may be active at
any one time.
Further information on triggers, on offsetting the switching point and
on the offset limits can be found in the Operating and Programming
Instructions for System Integrators.