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
Outputs
7.7.7 Moving to a Cartesian position with a CIRC_REL motion
Description
The function block KRC_MoveCircRelative executes a circular motion to a
Cartesian end position. In order for the robot controller to be able to calculate
the circular motion, an auxiliary position must be specified in addition to the
end position.
The coordinates of the auxiliary position and end position are relative to the
current position (= start position of the circular motion). The auxiliary position
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 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
A REL statement always refers to the current position of the robot. For
this reason, if a REL motion is interrupted, the robot executes the en-
tire REL motion again, starting from the position at which it was inter-
rupted.
Fig. 7-45: Function block KRC_MoveCircRelative
Parameter Type Description
KRC_AxisGroup
RefArr AXIS_GROUP_
REF_ARR Reference to the internal structure of the axis group