Kuka KUKA.PLC mxAutomation Logix 1.0 User Manual

29 / 123Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Instancing The following function blocks may only be instanced once per robot. In the
case of multiple instancing, the signals of the most recently called function
block are output.
 KRC_ReadAxisGroup
 KRC_Intialize
 KRC_SetOverride
 KRC_AutomaticExternal
 KRC_Diag
 KRC_WriteAxisGroup
All other function blocks used in the mxAutomation robot program can be cre-
ated as a multi-instance call. The advantage of this is that not every function
block requires a data block of its own.
ExecuteCmd
 As far as possible, an ExecuteCmd input should only ever be simultane-
ously set for a function block of the same robot.
 After an ExecuteCmd input has been activated, do not reset it again until
the function block has confirmed execution of the statement by means of
the Done signal or indicated by means of the Error or Aborted signal that
the statement has not been executed. If the ExecuteCmd input is reset be-
forehand, there is no confirmation that the statement has been executed.
 By linking the Busy output of a function block to the ExecuteCmd input of
the following block, it is possible to transfer a sequence of consecutive
functions to the statement buffer and to execute them.
 ExecuteCmd should not be used as a start signal for a sequence of state-
ments. This might result in the transfer of the following statements taking
up valuable time.
Execution of a statement sequence should be triggered with
KRC_WaitForInput instead. Linking the Busy and ExecuteCmd signals en-
sures that execution of the planned steps can be started without delay as
soon as the corresponding input signal is received.
Program override
 If the mxAutomation robot program is started by a RESET at the function
block KRC_AutomaticExternal, set the program override to a value greater
than zero. Only then is the robot interpreter executed in a loop.
 While the mxAutomation robot program is being executed, the program
override can be set to zero without problems.
Approximate
positioning
Approximate positioning means that the motion does not stop exactly at the
programmed point. Approximate positioning is an option that can be selected
during motion programming.
 Approximate positioning is not possible if the motion instruction is followed
by an instruction that triggers an advance run stop.
 Approximate positioning is only possible if the motion statement is fol-
lowed by a statement that is transferred in BUFFERED mode.
7.5.1 Programming example (template MxA_Rockwell_Sample.ACD)
Description This example illustrates the basic structure of an mxAutomation robot pro-
gram.
Precondition In order to be able to move the robot using function blocks, the following pre-
conditions must be met:
 Submit interpreter is running.
 Drives are activated.
 Robot is in Automatic External mode.

Kuka KUKA.PLC mxAutomation Logix 1.0 Specifications

General

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