Kuka KUKA.PLC mxAutomation Logix 1.0, Руководство пользователя

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23 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
7.2 Frequently used input/output signals in the function blocks
7.2.1 Input/output signal KRC_AxisGroupRefArr (memory)
Each function block requires a reference to the internal structure
KRC_AxisGroupRefArr, in which the internal state of the mxA interface is
stored. It is imperative that the reference always applies to the same instance
of this structure.
7.2.2 Input signals
AxisGroupIdx
This signal input is used to set the number of the robot addressed by a function
block.
This number must always be “0”, as currently only 1 robot can be controlled by
the PLC.
ExecuteCmd
If this signal is set, mxAutomation transfers the associated function block to
the robot. The function block is stored in a statement buffer by the robot, pro-
vided there is still sufficient space in the buffer. If the ExecuteCmd input is re-
set, mxAutomation deletes the function block from the buffer again unless
execution of the statement has already begun.
7.2.3 Output signals
Busy
This signal output indicates that the associated function block is currently be-
ing transferred to the robot’s statement buffer or has already been transferred.
It is reset when the ExecuteCmd input is reset.
Active
This signal output indicates that the associated function block is currently be-
ing executed on the robot. It is reset when the ExecuteCmd input is reset.
Done
This signal output indicates that the associated function block has been suc-
cessfully executed by the robot. It is reset when the ExecuteCmd input is reset.
Error
This signal output indicates that an error has occurred during execution of the
associated function block on the robot. In this case, the signal output ErrorID
contains an error number. It is reset when the ExecuteCmd input is reset.
ErrorID
This signal output contains an error number.
KRC_MessageReset ( >>> 7.8.3 "Resetting error messages of the mxA interface"
Page 87)
KRC_Diag ( >>> 7.8.5 "Reading diagnostic signals" Page 88)
Diagnostic functions
Special functions
KRC_ReadSysVar
( >>> 7.9.1 "Reading system variables" Page 90)
KRC_WriteSysVar ( >>> 7.9.2 "Writing system variables" Page 91)
KRC_BrakeTest ( >>> 7.9.3 "Calling a brake test" Page 92)
KRC_MasRef ( >>> 7.9.4 "Calling a mastering test" Page 94)
KRC_ReadSafeOPStatus ( >>> 7.9.5 "Reading the safety controller signals" Page 96)
KRC_ReadTouchUPState ( >>> 7.9.6 "Reading the state of the TouchUp status keys"
Page 97)
KRC_TouchUP ( >>> 7.9.7 "Teaching points" Page 97)