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Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)

7 Programming

7.6.7

Reading the current axis position

Description

The function block KRC_ReadActualAxisPos reads the current axis-specific
robot position $AXIS_ACT. This is updated cyclically.

Memory

Inputs

Outputs

7.6.8

Reading the current path velocity

Description

The function block KRC_ReadActualVelocity reads the current actual velocity
at the TCP of the robot $VEL_ACT.

Status

INT

Status of the current actual position

Turn

INT

Turn of the current actual position

Tool

INT

Number of the currently used TOOL coordinate
system $ACT_TOOL

Base

INT

Number of the currently used BASE coordinate
system $ACT_BASE

IPOMode

INT

Current interpolation mode in the main run
$IPO_MODE_C

Parameter

Type

Description

Fig. 7-8: Function block KRC_ReadActualAxisPos

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

Parameter

Type

Description

Valid

BOOL

TRUE = data are valid

AxisPosition

E6AXIS

Current axis-specific robot position
$AXIS_ACT

The data structure E6AXIS contains all the axis
positions of the axis group.

A1 … A6

REAL

Current position of robot axes A1 to A6

E1 … E6

REAL

Current position of external axes E1 to E6

Содержание KUKA.PLC mxAutomation Logix 1.0

Страница 1: ...KUKA System Technology KUKA PLC mxAutomation Logix 1 0 For KUKA System Software 8 2 KUKA Roboter GmbH Issued 13 08 2012 Version KST PLC mxAutomation Logix 1 0 V1 en PDF...

Страница 2: ...of a replacement or service work We have checked the content of this documentation for conformity with the hardware and software described Nevertheless discrepancies cannot be precluded for which rea...

Страница 3: ...blocks 23 7 2 1 Input output signal KRC_AxisGroupRefArr memory 23 7 2 2 Input signals 23 7 2 3 Output signals 23 7 2 4 Signal sequence for execution of ExecuteCmd 24 7 3 Structures for motion program...

Страница 4: ...ated switching action TRIGGER WHEN PATH 65 7 6 35 Canceling a program 67 7 6 36 Stopping the robot 68 7 6 37 Continuing a program 69 7 7 Functions for activating motions 69 7 7 1 Moving to a Cartesian...

Страница 5: ...aching points 97 8 Messages 99 8 1 Error messages of the mxA interface in the robot interpreter 99 8 2 Error messages of the mxA interface in the Submit interpreter 103 8 3 Error in the function block...

Страница 6: ...6 123 Issued 13 08 2012 Version KST PLC mxAutomation Logix 1 0 V1 en PDF KUKA PLC mxAutomation Logix 1 0...

Страница 7: ...ust be observed Notes These hints serve to make your work easier or contain references to further information For optimal use of our products we recommend that our customers take part in a course of t...

Страница 8: ...smartPAD Hand held operating and programming device for the KUKA industrial robot mxA interface KUKA PLC mxAutomation Logix technology package on the robot con troller Ethernet IP Ethernet IP is an Et...

Страница 9: ...Visual project MxA_Rockwell_Sample wvs for EtherNet IP Template folder Limitations KUKA PLC mxAutomation can be used together with the KUKA SafeOp eration technology package but not with other technol...

Страница 10: ...tion in accordance with the intended use also involves compliance with the start up and configuration instructions in this documentation Misuse Any use or application deviating from the intended use i...

Страница 11: ...The fundamental safety information for the industrial robot can be found in the Safety chapter of the Operating and Programming Instructions for System In tegrators or the Operating and Programming In...

Страница 12: ...12 123 Issued 13 08 2012 Version KST PLC mxAutomation Logix 1 0 V1 en PDF KUKA PLC mxAutomation Logix 1 0...

Страница 13: ...If not press Refresh 4 If the specified entries are now displayed continue with step 5 If not the drive from which the software is being installed must be config ured first Press the Configuration bu...

Страница 14: ...the main menu select Start up Install additional software All addi tional programs installed are displayed 2 Mark the entry mxAutomation Logix and click on Uninstall Reply to the request for confirma...

Страница 15: ...nu select Configuration Status keys mxAutomation Description For safety reasons the status keys for teaching points are deactivated To ac tivate them the enabling switch on the smartPAD must be presse...

Страница 16: ...16 123 Issued 13 08 2012 Version KST PLC mxAutomation Logix 1 0 V1 en PDF KUKA PLC mxAutomation Logix 1 0...

Страница 17: ...rNet IP in WorkVisual Note The MxA_Rockwell_Sample wvs template supplied on the USB stick Template folder contains a sample WorkVisual project with the correct Ether Net IP settings 3 Map the I Os of...

Страница 18: ...the external system Ping successful The external system is accessible and can receive data Ping failed The external system is not accessible and cannot receive data 3 IP address of the external syste...

Страница 19: ...sages consist of the following elements Element Example Network name of robot PCRC7190 ROBOTER KUKA DE Name of robot ROB1 Time of message date time Originator of the message KCP Message text Value can...

Страница 20: ...20 123 Issued 13 08 2012 Version KST PLC mxAutomation Logix 1 0 V1 en PDF KUKA PLC mxAutomation Logix 1 0...

Страница 21: ...tualPosition 7 6 6 Reading the current robot position Page 36 KRC_ReadActualAxisPos 7 6 7 Reading the current axis position Page 37 KRC_ReadActualVelocity 7 6 8 Reading the current path velocity Page...

Страница 22: ...elative 7 7 8 Jogging to a relative end position Page 82 KRC_JogToolRelative 7 7 9 Jogging to a relative end position in the TOOL coor dinate system Page 84 Program execution control KRC_Abort 7 6 35...

Страница 23: ...tly 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 b...

Страница 24: ...set The statement will be aborted in this case but neither the Error nor the Aborted signal will be set This means there is no confirmation that the statement has been aborted ExecuteCmd is reset bef...

Страница 25: ...arameter unit mm Approximation starts at the earliest when the distance to the end point falls below the value specified here CORI REAL Orientation parameter unit Approximation starts at the earliest...

Страница 26: ...se INT Number of the BASE coordinate system 1 coordinate system is not changed 0 NULLFRAME 1 32 BASE_DATA 1 32 Default 1 IPO_MODE INT Interpolation mode 0 The tool is a fixed tool BASE 1 The tool is m...

Страница 27: ...xis positions Note Further information about Status and Turn is contained in the Operating and Pro gramming Instructions for System Integrators T INT Turn E1 REAL Position of external axis E1 optional...

Страница 28: ...nt during the motion 2 JOINT The orientation of the TCP changes continuously during the motion but not uniformly This is done by linear transforma tion axis specific motion of the wrist axis angles No...

Страница 29: ...quence of state ments This might result in the transfer of the following statements taking up valuable time Execution of a statement sequence should be triggered with KRC_WaitForInput instead Linking...

Страница 30: ...the Automatic External interface Important signals ENABLE_EXT Robot may be moved in Automatic External mode MOVE_ENABLE Grants the robot motion enable DRIVES_OFF Signal must be TRUE when the drives a...

Страница 31: ...e per robot In the case of multiple instancing the signals of the most recently called function block are output Fig 7 2 Function block KRC_ReadAxisGroup Parameter Type Description KRC_AxisGroup RefAr...

Страница 32: ...eter Type Description KRC_AxisGroup RefArr AXIS_GROUP_ REF_ARR Reference to the internal structure of the axis group MsgCtrlWrite MESSAGE Rockwell specific data type for EtherNet IP omxA_OUT MXA_SYNC_...

Страница 33: ...e axis group Parameter Type Description AxisGroupIdx INT Index of axis group Parameter Type Description ErrorID DINT Error number KRC_Serial DINT Serial number of the robot controller KRC_Major DINT V...

Страница 34: ...isGroupIdx INT Index of axis group Override INT Set program override 0 100 Parameter Type Description ActualOver ride INT Current override setting 0 100 ErrorID DINT Error number Valid BOOL TRUE data...

Страница 35: ...ng The robot cannot be moved ENABLE_T2 BOOL TRUE enabling of T2 mode The signal MOVE_ENABLE is sup pressed in the absence of enabling The robot cannot be moved ENABLE_AUT BOOL TRUE enabling of Automat...

Страница 36: ...ot is at standstill T1 BOOL T1 TRUE operating mode T1 selected T2 BOOL T2 TRUE operating mode T2 selected AUT BOOL AUT TRUE operating mode Automatic selected EXT BOOL EXT TRUE operating mode Automatic...

Страница 37: ...r of the currently used TOOL coordinate system ACT_TOOL Base INT Number of the currently used BASE coordinate system ACT_BASE IPOMode INT Current interpolation mode in the main run IPO_MODE_C Paramete...

Страница 38: ...for CP motions in program mode Fig 7 9 Function block KRC_ReadActualVelocity Parameter Type Description KRC_AxisGroup RefArr AXIS_GROUP_ REF_ARR Reference to the internal structure of the axis group P...

Страница 39: ...Current velocity of external axis E1 E6 in the main run unit Done BOOL TRUE statement has been executed Error BOOL TRUE error in function block The current Cartesian acceleration about angles A B C is...

Страница 40: ...L Current Cartesian acceleration about angles A B C 0 m s2 not calculated Done BOOL TRUE statement has been executed Error BOOL TRUE error in function block Parameter Type Description Fig 7 12 Functio...

Страница 41: ...talOutput 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 Exec...

Страница 42: ...r of the digital output 1 2 048 Note It must be ensured that no outputs are used that are already assigned by the system Example OUT 1025 is always TRUE Value BOOL Value of the digital output Pulse RE...

Страница 43: ...IS_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 i...

Страница 44: ...of a ris ing edge of the signal Number INT Number of the analog output 1 32 Parameter Type Description Value REAL Value of the analog output ErrorID DINT Error number Done BOOL TRUE statement has been...

Страница 45: ...cription ErrorID DINT Error number Busy BOOL TRUE statement is currently being trans ferred or has already been transferred Done BOOL TRUE statement has been executed Aborted BOOL TRUE statement was a...

Страница 46: ...RTING 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 transfe...

Страница 47: ...ID DINT Error number Busy BOOL TRUE statement is currently being trans ferred or has already been transferred Done BOOL TRUE statement has been executed Aborted BOOL TRUE statement was aborted before...

Страница 48: ...system FRAME Page 27 ErrorID DINT Error number Done BOOL TRUE statement has been executed Error BOOL TRUE error in function block Fig 7 21 Function block KRC_WriteToolData Parameter Type Description...

Страница 49: ...INT Error number Busy BOOL TRUE statement is currently being trans ferred or has already been transferred Done BOOL TRUE statement has been executed Aborted BOOL TRUE statement was aborted before it w...

Страница 50: ...system FRAME Page 27 ErrorID DINT Error number Done BOOL TRUE statement has been executed Error BOOL TRUE error in function block Fig 7 23 Function block KRC_WriteBaseData Parameter Type Description...

Страница 51: ...is executed 0 DIRECT 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 o...

Страница 52: ...ber of the TOOL coordinate system for reading the payload data or number for reading the supplementary load data 1 16 TOOL_DATA 1 16 1 supplementary load A1 2 supplementary load A2 3 supplementary loa...

Страница 53: ...xisGroupIdx INT Index of axis group ExecuteCmd BOOL The statement is executed in the case of a rising edge of the signal Tool INT Number of the TOOL coordinate system for writing the pay load data or...

Страница 54: ...ED 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 Done BOOL...

Страница 55: ...rrorID DINT Error number Done BOOL TRUE statement has been executed Error BOOL TRUE error in function block Fig 7 27 Function block KRC_ReadSoftEndEx Parameter Type Description KRC_AxisGroup RefArr AX...

Страница 56: ...limit switches of the robot axes Memory Inputs Fig 7 28 Function block KRC_WriteSoftEnd Parameter Type Description KRC_AxisGroup RefArr AXIS_GROUP_ REF_ARR Reference to the internal structure of the...

Страница 57: ...tch of axis A1 A6 Unit mm or BufferMode INT Mode in which the statement is executed 0 DIRECT 1 ABORTING 2 BUFFERED BufferMode Page 27 Parameter Type Description Parameter Type Description ErrorID DINT...

Страница 58: ...ameter Type Description AxisGroupIdx INT Index of axis group ExecuteCmd BOOL The statement is executed in the case of a rising edge of the signal E1_Min E6_Min REAL Negative software limit switch of a...

Страница 59: ...INT Index of axis group ExecuteCmd BOOL The statement is buffered in the case of a rising edge of the signal Interrupt INT Number of the interrupt 1 8 Input INT Number of the digital input to which th...

Страница 60: ...ut 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 Input...

Страница 61: ...up ExecuteCmd BOOL The statement is buffered in the case of a rising edge of the signal Interrupt INT Number of the interrupt 1 8 BufferMode INT Mode in which the statement is executed 1 ABORTING 2 BU...

Страница 62: ...Description AxisGroupIdx INT Index of axis group ExecuteCmd BOOL The statement is buffered in the case of a rising edge of the signal Interrupt INT Number of the interrupt 1 8 BufferMode INT Mode in w...

Страница 63: ...is group Interrupt INT Number of the interrupt 1 8 Parameter Type Description ErrorID DINT Error number Value INT State of specified interrupt 0 Interrupt has not been declared 1 Interrupt has been de...

Страница 64: ...signal Distance INT Switching point of the trigger 0 Switching action at the start point 1 Switching action at the end point Delay INT Statement delay Delay 0 ms no delay The statement cannot be shif...

Страница 65: ...TING 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 transferr...

Страница 66: ...t be specified here If this end point is approximated Path is the distance to the position on the approximate positioning arc closest to the end point Delay 0 0 mm no offset Delay 0 0 mm shifts the st...

Страница 67: ...ription 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 statem...

Страница 68: ...has been resumed with KRC_Continue i e the BRAKE statement is no longer active While the BRAKE statement is active the program can only be canceled by means of a RESET of the function block KRC_Automa...

Страница 69: ...nce to the internal structure of the axis group Parameter Type Description AxisGroupIdx INT Index of axis group Enable BOOL The statement is executed in the case of a ris ing edge of the signal In the...

Страница 70: ...n of the TCP relative to the ori gin of the BASE coordinate system CoordinateSys tem COORDSYS Coordinate system to which the Cartesian coordinates of the end position refer COORDSYS Page 26 Note In th...

Страница 71: ...riType INT Orientation control of the TCP 0 VAR 1 CONSTANT 2 JOINT OriType Page 28 BufferMode INT Mode in which the statement is executed 1 ABORTING 2 BUFFERED BufferMode Page 27 Parameter Type Descri...

Страница 72: ...he TCP relative to the ori gin of the selected coordinate system CoordinateSys tem COORDSYS Coordinate system to which the Cartesian coordinates of the end position refer COORDSYS Page 26 Note In the...

Страница 73: ...ot 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 BufferMode INT Mode in which the state...

Страница 74: ...n parameter APO Page 25 AxisGroupIdx INT Index of axis group ExecuteCmd BOOL Starts buffers the motion in the case of a rising edge of the signal Velocity INT Velocity 0 100 Refers to the maximum valu...

Страница 75: ...RC_MoveDirectRelative Parameter Type Description KRC_AxisGroup RefArr AXIS_GROUP_ REF_ARR Reference to the internal structure of the axis group Parameter Type Description Position E6POS Coordinates of...

Страница 76: ...is not changed 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 acce...

Страница 77: ...oximation parameter APO Page 25 AxisGroupIdx INT Index of axis group ExecuteCmd BOOL Starts buffers the motion in the case of a rising edge of the signal Velocity INT Velocity 0 100 Refers to the maxi...

Страница 78: ...end position E6POS Page 26 The data structure E6POS contains all components of the end position position of the TCP relative to the ori gin of the BASE coordinate system CircHP E6POS Coordinates of th...

Страница 79: ...int via Position towards CircHP 0 0 The circular angle is ignored End position is Position The radius of the circle is calculated on the basis of the start position CircHP and Position Default 0 0 Vel...

Страница 80: ...cannot be approximated The motion always stops exactly at this point Memory Inputs Parameter Type Description ErrorID DINT Error number Busy BOOL TRUE statement is currently being trans ferred or has...

Страница 81: ...25 AxisGroupIdx INT Index of axis group ExecuteCmd BOOL Starts buffers the motion in the case of a rising edge of the signal Angle REAL Circular angle overall angle of the circular motion The circular...

Страница 82: ...xecuted 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...

Страница 83: ...tructure E6POS contains all components of the end position position of the TCP relative to the ori gin of the selected coordinate system CoordinateSys tem COORDSYS Coordinate system to which the Carte...

Страница 84: ...motions and buffered statements are canceled the robot is braked and the linear mo tion is then executed Memory Acceleration INT Acceleration 0 100 Refers to the maximum value specified in the machine...

Страница 85: ...the motion in the case of a rising edge of the signal Velocity INT Velocity 0 100 Refers to the maximum value specified in the machine data The maximum value depends on the robot type and the selected...

Страница 86: ...nerated by the mxA interface are dis played Memory Inputs Fig 7 48 Function block KRC_ReadMXAStatus Parameter Type Description KRC_AxisGroup RefArr AXIS_GROUP_ REF_ARR Reference to the internal struct...

Страница 87: ...te of the ro bot controller Only error messages generated by the robot controller are dis played Error messages from the robot controller are reset by means of the function block KRC_AutomaticExternal...

Страница 88: ...gnal Offset INT If there are more than 10 messages in the message buffer the desired start index of the message buffer can be selected using the offset Example If there are 15 messages in the message...

Страница 89: ...he cycle time of the Submit interpreter is adversely affected MaxSubmitCycle INT Maximum cycle time of the Submit interpreter Default 1 000 ms Note If the maximum cycle time is exceeded the MOVE_ENABL...

Страница 90: ...ted 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 DI...

Страница 91: ...lue1 Value10 REAL Value of the system variable If the system variable is a structure type up to 10 components of the structure can be read ErrorID DINT Error number Done BOOL TRUE statement has been e...

Страница 92: ...gered if the robot sags because of the defective brake The transport po sition for example can be selected as the parking position Value1 Value10 REAL Value of the system variable If the system variab...

Страница 93: ...the Cartesian parking position E6POS Page 26 The data structure E6POS contains all components of the parking position position of the TCP relative to the origin of the selected coordinate system ParkC...

Страница 94: ...cceleration is not changed BufferMode INT Mode in which the statement is executed 1 ABORTING 2 BUFFERED BufferMode Page 27 Parameter Type Description Parameter Type Description Result DINT Result of t...

Страница 95: ...COORDSYS Coordinate system to which the Cartesian coordinates of the reference position refer COORDSYS Page 26 AxisGroupIdx INT Index of axis group ExecuteCmd BOOL Starts buffers the motion in the cas...

Страница 96: ...has been requested internally by the robot controller Fig 7 57 Function block KRC_ReadSafeOPStatus Parameter Type Description KRC_AxisGroup RefArr AXIS_GROUP_ REF_ARR Reference to the internal structu...

Страница 97: ...set by the function block BRAKETEST_WARN BOOL Edge FALSE TRUE At least 1 brake has been detected as having reached the wear limit MASTERINGTESTSWITCH_O K BOOL TRUE reference switch is OK Error BOOL T...

Страница 98: ...F_ARR Reference to the internal structure of the axis group PositionArray Array 100 List of the taught positions Parameter Type Description AxisGroupIdx INT Index of axis group ExecuteCmd BOOL TRUE th...

Страница 99: ...UKA Roboter GmbH 9 KUKA Service Page 111 6 INVALID COM MAND STATE Internal exceptional error 7 INVALID COM MAND ID Internal exceptional error 8 INVALID MOVE TYPE Internal exceptional error 9 OVERFLOW...

Страница 100: ...coordinate system that is currently being used in the robot controller parameter CoordinateSystem COORD SYS Tool COORDSYS Page 26 34 INVALID VELOC ITY An invalid value has been pro grammed in a funct...

Страница 101: ...er CircHP E6AXIS Page 26 47 INVALID INTER RUPT IO The number of the digital input to which the interrupt is declared is invalid function block KRC_DeclareInterrupt Program a valid value parame ter Inp...

Страница 102: ...rogram valid data parameter ToolData or BaseData 7 6 20 Writing TOOL data Page 48 7 6 22 Writing BASE data Page 50 59 INVALID LOAD DATA Invalid load data have been programmed in a KRC_WriteLoadData fu...

Страница 103: ...or Contact KUKA Roboter GmbH 9 KUKA Service Page 111 402 ASSERT FAILED Internal exceptional error 403 INVALID COM MAND ID Internal exceptional error 404 INVALID COM MAND STATE Internal exceptional err...

Страница 104: ...or connect it correctly 416 SYS VAR NOT INI TIALIZED An error occurred when reading a system variable The specified system variable does not exist or may not be read in the current operating state Ex...

Страница 105: ...stem that is currently being used in the robot controller parameter CoordinateSystem COORD SYS Tool 434 INVALID VELOC ITY An invalid value has been pro grammed in a function block for the velocity Pro...

Страница 106: ...XIS Page 26 447 INVALID INTER RUPT IO The number of the digital input to which the interrupt is declared is invalid function block KRC_DeclareInterrupt Program a valid value parame ter Input 1 2 048 4...

Страница 107: ...Writing TOOL data Page 48 7 6 22 Writing BASE data Page 50 459 INVALID LOAD DATA Invalid load data have been programmed in a KRC_WriteLoadData function block Program valid data 7 6 24 Writing load da...

Страница 108: ...KRC_SetOverride Program a valid value parame ter Override 0 100 505 MAX GROUP REF IDX REACHED The axis group index specified in the function block KRC_ReadAxisGroup is already assigned Only instance t...

Страница 109: ...RSLogix 5000 and configure EtherNet IP correctly Error during operation Bit error during data transfer Contact KUKA Roboter GmbH 9 KUKA Service Page 111 513 INVALID POSI TION INDEX An invalid number f...

Страница 110: ...110 123 Issued 13 08 2012 Version KST PLC mxAutomation Logix 1 0 V1 en PDF KUKA PLC mxAutomation Logix 1 0...

Страница 111: ...oftware Optional software or modifications Archive of the software For KUKA System Software V8 instead of a conventional archive gener ate the special data package for fault analysis via KrcDiag Appli...

Страница 112: ...900 S o Paulo SP Brazil Tel 55 11 69844900 Fax 55 11 62017883 info kuka roboter com br Chile Robotec S A Agency Santiago de Chile Chile Tel 56 2 331 5951 Fax 56 2 331 5952 robotec robotec cl www robot...

Страница 113: ...122 002 Gurgaon Haryana India Tel 91 124 4635774 Fax 91 124 4635773 info kuka in www kuka in Italy KUKA Roboter Italia S p A Via Pavia 9 a int 6 10098 Rivoli TO Italy Tel 39 011 959 5013 Fax 39 011 95...

Страница 114: ...47100 Puchong Selangor Malaysia Tel 60 3 8061 0613 or 0614 Fax 60 3 8061 7386 info kuka com my Mexico KUKA de M xico S de R L de C V Progreso 8 Col Centro Industrial Puente de Vigas Tlalnepantla de Ba...

Страница 115: ...do Alto da Guerra n 50 Armaz m 04 2910 011 Set bal Portugal Tel 351 265 729780 Fax 351 265 729782 kuka mail telepac pt Russia OOO KUKA Robotics Rus Webnaja ul 8A 107143 Moskau Russia Tel 7 495 781 31...

Страница 116: ...73 3869 www jendamark co za Taiwan KUKA Robot Automation Taiwan Co Ltd No 249 Pujong Road Jungli City Taoyuan County 320 Taiwan R O C Tel 886 3 4331988 Fax 886 3 4331948 info kuka com tw www kuka com...

Страница 117: ...ry Tel 36 24 501609 Fax 36 24 477031 info kuka robotics hu USA KUKA Robotics Corporation 51870 Shelby Parkway Shelby Township 48315 1787 Michigan USA Tel 1 866 873 5852 Fax 1 866 329 5852 info kukarob...

Страница 118: ...118 123 Issued 13 08 2012 Version KST PLC mxAutomation Logix 1 0 V1 en PDF KUKA PLC mxAutomation Logix 1 0...

Страница 119: ...dustrial robot 7 Done signal output 23 E E6AXIS STRUCT 26 E6POS STRUCT 26 Error signal output 23 ErrorID signal output 23 Errors reading 86 87 Errors resetting 87 Ethernet IP 8 Example programming 29...

Страница 120: ...nce call 29 mxA interface 8 mxA interface error messages 86 mxA interface initializing 32 O Operation 15 Orientation control circular motion 28 Orientation control TCP 28 OriType variable 28 Output si...

Страница 121: ...8 Template program 9 21 28 29 Template WorkVisual project 9 Terms used 8 Terms used 8 TOOL data reading 47 TOOL data writing 48 Tool selecting 46 TouchUp status keys 97 Trademarks 8 Training 7 TRIGGER...

Страница 122: ...122 123 Issued 13 08 2012 Version KST PLC mxAutomation Logix 1 0 V1 en PDF KUKA PLC mxAutomation Logix 1 0...

Страница 123: ...123 123 Issued 13 08 2012 Version KST PLC mxAutomation Logix 1 0 V1 en PDF KUKA PLC mxAutomation Logix 1 0...

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