Kuka KUKA.PLC mxAutomation Logix 1.0, Руководство пользователя

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69 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
7.6.37 Continuing a program
Description
The function block KRC_Continue can be used to resume execution of a pro-
gram that has been stopped by means of an interrupt.
Memory
Inputs
Outputs
7.7 Functions for activating motions
7.7.1 Moving to a Cartesian position with a LIN motion
Description
The function block KRC_MoveLinearAbsolute executes a linear motion to a
Cartesian end position. The coordinates of the end position are absolute.
Fig. 7-38: Function block KRC_Continue
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
Enable BOOL The statement is executed in the case of a ris-
ing edge of the signal.
In the case of an interrupt triggered by a
BRAKE or BRAKE F statement, the program
can only be resumed when the interrupt is no
longer active and the input
Enable
is set to
TRUE.
Parameter Type Description
ErrorID DINT Error number
Error BOOL TRUE = error in function block
Motion instructions can only be executed in ABORTING or BUFF-
ERED mode. If a motion is to be approximated, the following motion
must be transferred in BUFFERED mode.
Further information about the basics of motion programming – motion
types, orientation control, and approximate positioning – is contained
in the operating and programming instructions for the KUKA System
Software.