Kuka KUKA.PLC mxAutomation Logix 1.0

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123 / 123Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)

KUKA.PLC mxAutomation Logix 1.0

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Table of Contents3
Introduction7
Target Group7
Industrial Robot Documentation7
Representation of Warnings and Notes7
Terms Used8
Trademarks8
Product Description9
KUKA.PLC Mxautomation Logix - Overview9
Intended Use9
Safety11
Installation13
System Requirements13
Installing or Updating KUKA.PLC Mxautomation Logix13
Uninstalling KUKA.PLC Mxautomation Logix14
Operation15
Menus15
Status Keys15
Start-Up and Configuration17
Start-Up and Configuration - Overview17
Configuring Message Generation on an External System17
Programming21
Overview of Function Blocks21
Frequently Used Input/Output Signals in the Function Blocks23
Input/Output Signal Krc_Axisgrouprefarr (Memory)23
Input Signals23
Output Signals23
Signal Sequence for Execution of Executecmd24
Structures for Motion Programming (STRUCT)25
Integer Variables27
Programming Tips for KUKA.PLC Mxautomation28
Programming Example (Template Mxa_Rockwell_Sample.acd)29
Administrative Functions30
Reading PLC-Specific Communication into a Non-PLC-Specific Structure30
Writing a Non-PLC-Specific Structure into PLC-Specific Communication31
Initializing the Mxa Interface32
Setting the Program Override (POV)33
Activating and Reading Automatic External Signals from the Robot Controller34
Reading the Current Robot Position36
Reading the Current Axis Position37
Reading the Current Path Velocity37
Reading the Current Axis Velocity38
Reading the Current Robot Acceleration39
Reading a Digital Input40
Reading a Digital Output40
Writing a Digital Output41
Reading an Analog Input42
Reading an Analog Output43
Writing an Analog Output44
Wait Statement (Read Digital Input)45
Selecting the Tool, Base and Interpolation Mode46
Reading TOOL Data47
Writing TOOL Data48
Reading BASE Data49
Writing BASE Data50
Reading the Load Data51
Writing Load Data52
Reading the Software Limit Switches of the Robot Axes54
Reading the Software Limit Switches of the External Axes55
Writing the Software Limit Switches of the Robot Axes56
Writing the Software Limit Switches of the External Axes57
Declaring Interrupts58
Activating Interrupts60
Deactivating Interrupts61
Reading the State of an Interrupt62
Activating a Path-Related Switching Action (TRIGGER WHEN DISTANCE)63
Activating a Path-Related Switching Action (TRIGGER WHEN PATH)65
Canceling a Program67
Stopping the Robot68
Continuing a Program69
Functions for Activating Motions69
Moving to a Cartesian Position with a LIN Motion69
Moving to a Cartesian Position with a LIN_REL Motion71
Moving to a Cartesian Position with a PTP Motion73
Moving to a Cartesian Position with a PTP_REL Motion75
Moving to an Axis-Specific Position with a PTP Motion76
Moving to a Cartesian Position with a CIRC Motion77
Moving to a Cartesian Position with a CIRC_REL Motion80
Jogging to a Relative End Position82
Jogging to a Relative End Position in the TOOL Coordinate System84
Diagnostic Functions86
Reading the Current State of the Mxa Interface86
Reading Error Messages of the Mxa Interface86
Resetting Error Messages of the Mxa Interface87
Reading Error Messages of the Robot Controller87
Reading Diagnostic Signals88
Special Functions90
Reading System Variables90
Writing System Variables91
Calling a Brake Test92
Calling a Mastering Test94
Reading the Safety Controller Signals96
Reading the State of the Touchup Status Keys97
Teaching Points97
Messages99
Error Messages of the Mxa Interface in the Robot Interpreter99
Error Messages of the Mxa Interface in the Submit Interpreter103
Error in the Function Block108
KUKA Service111
Requesting Support111
KUKA Customer Support111
Index119

Kuka KUKA.PLC mxAutomation Logix 1.0

Table of Contents

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