Kuka KUKA.PLC mxAutomation Logix 1.0, Руководство пользователя

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47 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Outputs
7.6.19 Reading TOOL data
Description
The function block KRC_ReadToolData reads the TOOL data of the robot.
Memory
Inputs
ExecuteCmd BOOL The statement is executed in the case of a rising edge of
the signal.
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 trans-
ferred or has already been transferred
Done BOOL TRUE = statement has been executed
Aborted BOOL TRUE = statement was aborted before it was
processed in the advance run
Error BOOL TRUE = error in function block
Fig. 7-20: Function block KRC_ReadToolData
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.
ToolNo INT Number of the TOOL coordinate system
 1 … 16
: TOOL_DATA[1 … 16]