24 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
The errors and error causes corresponding to the error number are described
here: (>>> 8 "Messages" Page 99)
Aborted This signal output is set either when the function block KRC_Abort is executed
or when a statement is executed in the ABORTING mode. It is reset when the
ExecuteCmd input is reset.
7.2.4 Signal sequence for execution of ExecuteCmd
Example The signal diagram applies in the following case:
A statement has been transferred by means of ExecuteCmd and success-
fully executed.
Variations
ExecuteCmd is reset before Done is set. The statement will be executed
in this case but the Done signal will not be set. This means there is no con-
firmation that the statement has been executed.
ExecuteCmd is reset before Error or Aborted is set. The statement will be
aborted in this case but neither the Error nor the Aborted signal will be set.
This means there is no confirmation that the statement has been aborted.
ExecuteCmd is reset before Active is set. In this case the function block
will be deleted from the robot’s statement buffer.
ExecuteCmd is reset before Busy is set. The funcion block will not be
transferred to the robot in this case and the statement will therefore not be
executed.
Fig. 7-1: Signal diagram – ExecuteCmd successful
Item Description
1 The function block is transferred to the robot (= request to execute
the statement).
2 The statement is transferred.
3 The statement is currently being executed.
4 The statement was completed successfully. Neither has an error
occurred, nor has the statement been aborted, e.g. by
KRC_Abort.
The Error signal would be set instead of the Done signal in the
case of an error, and the Aborted signal would be set instead of
the Done signal if the statement is aborted.
5 If the ExecuteCmd input is reset, the outputs too are reset.
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