Kuka KUKA.PLC mxAutomation Logix 1.0, Руководство пользователя

Страница: 63 / 123

63 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Inputs
Outputs
7.6.33 Activating a path-related switching action (TRIGGER WHEN DISTANCE)
Description
The function block KRC_SetDistanceTrigger triggers a path-related switching
action in the case of PTP or LIN motions.
The Trigger triggers a defined statement. The statement refers to the start
point or end point of the motion block in which the Trigger is situated in the pro-
gram. The statement is executed parallel to the robot motion.
The statement can be shifted in time. It is then not triggered exactly at the start
or end point, but brought forward or delayed.
Parameter Type Description
AxisGroupIdx INT Index of axis group
Interrupt INT Number of the interrupt
 1 … 8
Parameter Type Description
ErrorID DINT Error number
Value INT State of specified interrupt
 0
: Interrupt has not been declared.
 1
: Interrupt has been declared, but not activated.
 2
: Interrupt has been declared and activated in the ad-
vance run.
 3
: Interrupt has been declared and deactivated while still
in the advance run.
 4
: Interrupt has been triggered and is active.
 5
: Interrupt has been triggered and the main program has
already been resumed with KRC_Continue.
Error BOOL TRUE = error in function block
Valid BOOL TRUE = data are valid
If a trigger calls a subprogram, it counts as an active interrupt until the
subprogram has been executed. Up to 16 interrupts may be active at
any one time.
Further information on triggers, on offsetting the switching point and
on the offset limits can be found in the Operating and Programming
Instructions for System Integrators.