Kuka KUKA.PLC mxAutomation Logix 1.0, Руководство пользователя

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Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Inputs
Outputs
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 the Cartesian 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).
CoordinateSys-
tem COORDSYS Coordinate system to which the Cartesian coordinates of
the end position refer
( >>> "COORDSYS" Page 26)
Note
: In the case of a PTP motion, the Cartesian coordi-
nates always refer to the BASE coordinate system.
Approximate APO Approximation 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 value specified in the machine
data. The maximum value depends on the robot type and
the selected operating mode.
Default:
0%
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%
(= velocity is not changed)
BufferMode INT Mode in which the statement is executed
 1
: ABORTING
 2
: BUFFERED
( >>> "BufferMode" Page 27)
Parameter Type Description
ErrorID DINT Error number
Busy BOOL TRUE = statement is currently being trans-
ferred or has already been transferred
Active BOOL TRUE = motion is currently being executed
Done BOOL TRUE = motion has stopped
Aborted BOOL TRUE = statement/motion has been aborted
Error BOOL TRUE = error in function block