Kuka KUKA.PLC mxAutomation Logix 1.0, Руководство пользователя

Страница: 40 / 123

40 / 123
Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
7.6.11 Reading a digital input
Description
The function block KRC_ReadDigitalInput polls and reads a digital input of the
robot controller. This function is executed in the Submit interpreter.
Memory
Inputs
Outputs
7.6.12 Reading a digital output
Description
The function block KRC_ReadDigitalOutput polls and reads a digital output of
the robot controller. This function is executed in the Submit interpreter.
A, B, C REAL Current Cartesian acceleration about angles A,
B, C
0 m/s
2
(not calculated)
Done BOOL TRUE = statement has been executed
Error BOOL TRUE = error in function block
Parameter Type Description
Fig. 7-12: Function block KRC_ReadDigitalInput
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.
Number INT Number of the digital input
 1 … 2 048
Parameter Type Description
ErrorID DINT Error number
Done BOOL TRUE = statement has been executed
Value BOOL Value of the digital input
Error BOOL TRUE = error in function block