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Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
7.9
Special functions
7.9.1
Reading system variables
Description
The function block KRC_ReadSysVar reads a system variable. This function
is executed in the Submit interpreter.
Memory
Inputs
Avg_Duration
DINT
Duration of the current calculation period for the mean value
of the cycle time; unit: ms
The calculation period is restarted after a break in the con-
nection to the Submit interpreter or, at the latest, after 60 min-
utes.
ActivePosOrderID
DINT
Order ID of the KRC_Move motion command that is currently
being executed
ActiveOrderIDB
DINT
Order ID of the current KRC_Move motion command in the
advance run
ErrorID_RI
DINT
Robot interpreter error number
ErrorID_SI
DINT
Submit interpreter error number
ErrorID_PLC
DINT
PLC error number
ErrorID
DINT
Error number
Valid
BOOL
TRUE = data are valid
PosActValid
BOOL
TRUE = position data are valid (BCO)
BrakeActive
BOOL
TRUE = robot is stopped by means of a BRAKE statement
Error
BOOL
TRUE = error in function block
Parameter
Type
Description
Fig. 7-53: Function block KRC_ReadSysVar
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.
Index
INT
Index of the system variable
1
: $ADVANCE
