Kuka KUKA.PLC mxAutomation Logix 1.0

3 / 123Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
Contents
1 Introduction .................................................................................................. 7
1.1 Target group .............................................................................................................. 7
1.2 Industrial robot documentation ................................................................................... 7
1.3 Representation of warnings and notes ...................................................................... 7
1.4 Terms used ................................................................................................................ 8
1.5 Trademarks ................................................................................................................ 8
2 Product description ..................................................................................... 9
2.1 KUKA.PLC mxAutomation Logix – overview ............................................................. 9
2.2 Intended use .............................................................................................................. 9
3 Safety ............................................................................................................ 11
4 Installation ................................................................................................... 13
4.1 System requirements ................................................................................................. 13
4.2 Installing or updating KUKA.PLC mxAutomation Logix ............................................. 13
4.3 Uninstalling KUKA.PLC mxAutomation Logix ............................................................ 14
5Operation ...................................................................................................... 15
5.1 Menus ........................................................................................................................ 15
5.2 Status keys ................................................................................................................ 15
6 Start-up and configuration ......................................................................... 17
6.1 Start-up and configuration – overview ....................................................................... 17
6.2 Configuring message generation on an external system ........................................... 17
7 Programming ............................................................................................... 21
7.1 Overview of function blocks ....................................................................................... 21
7.2 Frequently used input/output signals in the function blocks ....................................... 23
7.2.1 Input/output signal KRC_AxisGroupRefArr (memory) .......................................... 23
7.2.2 Input signals .......................................................................................................... 23
7.2.3 Output signals ....................................................................................................... 23
7.2.4 Signal sequence for execution of ExecuteCmd .................................................... 24
7.3 Structures for motion programming (STRUCT) ......................................................... 25
7.4 Integer variables ........................................................................................................ 27
7.5 Programming tips for KUKA.PLC mxAutomation ....................................................... 28
7.5.1 Programming example (template MxA_Rockwell_Sample.ACD) ......................... 29
7.6 Administrative functions ............................................................................................. 30
7.6.1 Reading PLC-specific communication into a non-PLC-specific structure ............. 30
7.6.2 Writing a non-PLC-specific structure into PLC-specific communication ............... 31
7.6.3 Initializing the mxA interface ................................................................................. 32
7.6.4 Setting the program override (POV) ..................................................................... 33
7.6.5 Activating and reading Automatic External signals from the robot controller ........ 34
7.6.6 Reading the current robot position ........................................................................ 36
7.6.7 Reading the current axis position ......................................................................... 37
7.6.8 Reading the current path velocity ......................................................................... 37
7.6.9 Reading the current axis velocity .......................................................................... 38
7.6.10 Reading the current robot acceleration ................................................................. 39
7.6.11 Reading a digital input .......................................................................................... 40
Contents