Kuka KUKA.PLC mxAutomation Logix 1.0 User Manual

22 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
KRC_WriteSoftEnd (>>> 7.6.27 "Writing the software limit switches of the robot
axes" Page 56)
KRC_WriteSoftEndEx (>>> 7.6.28 "Writing the software limit switches of the external
axes" Page 57)
Administrative functions
Motion programming
KRC_MoveLinearAbsolute (>>> 7.7.1 "Moving to a Cartesian position with a LIN motion"
Page 69)
KRC_MoveLinearRelative (>>> 7.7.2 "Moving to a Cartesian position with a LIN_REL
motion" Page 71)
KRC_MoveDirectAbsolute (>>> 7.7.3 "Moving to a Cartesian position with a PTP motion"
Page 73)
KRC_MoveDirectRelative (>>> 7.7.4 "Moving to a Cartesian position with a PTP_REL
motion" Page 75)
KRC_MoveAxisAbsolute (>>> 7.7.5 "Moving to an axis-specific position with a PTP
motion" Page 76)
KRC_MoveCircAbsolute (>>> 7.7.6 "Moving to a Cartesian position with a CIRC motion"
Page 77)
KRC_MoveCircRelative (>>> 7.7.7 "Moving to a Cartesian position with a CIRC_REL
motion" Page 80)
KRC_JogLinearRelative (>>> 7.7.8 "Jogging to a relative end position" Page 82)
KRC_JogToolRelative (>>> 7.7.9 "Jogging to a relative end position in the TOOL coor-
dinate system" Page 84)
Program execution control
KRC_Abort (>>> 7.6.35 "Canceling a program" Page 67)
KRC_Interrupt (>>> 7.6.36 "Stopping the robot" Page 68)
KRC_Continue (>>> 7.6.37 "Continuing a program" Page 69)
KRC_WaitForInput (>>> 7.6.17 "Wait statement (read digital input)" Page 45)
Interrupt programming
KRC_DeclareInterrupt (>>> 7.6.29 "Declaring interrupts" Page 58)
KRC_ActivateInterrupt (>>> 7.6.30 "Activating interrupts" Page 60)
KRC_DeactivateInterrupt (>>> 7.6.31 "Deactivating interrupts" Page 61)
KRC_ReadInterruptStatus (>>> 7.6.32 "Reading the state of an interrupt" Page 62)
Path-related switching actions (=Trigger)
KRC_SetDistanceTrigger (>>> 7.6.33 "Activating a path-related switching action (TRIG-
GER WHEN DISTANCE)" Page 63)
KRC_SetPathTrigger (>>> 7.6.34 "Activating a path-related switching action (TRIG-
GER WHEN PATH)" Page 65)
Diagnostic functions
KRC_ReadMXAStatus (>>> 7.8.1 "Reading the current state of the mxA interface"
Page 86)
KRC_ReadMXAError (>>> 7.8.2 "Reading error messages of the mxA interface"
Page 86)
KRC_ReadKRCError (>>> 7.8.4 "Reading error messages of the robot controller"
Page 87)

Kuka KUKA.PLC mxAutomation Logix 1.0 Specifications

General

Brand	Kuka
Model	KUKA.PLC mxAutomation Logix 1.0
Category	Industrial Equipment
Language	English