Kuka KUKA.PLC mxAutomation Logix 1.0 User Manual

30 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
 mxAutomation robot program is selected and started.
Procedure 1. Insert the function block KRC_ReadAxisGroup.
This function block may only be called once at the start of the program.
2. Link the FirstScanBit signal in the KRC_ReadAxisGroup block to the
S:FS system signal of the PLC.
3. Insert the function block KRC_WriteAxisGroup.
This function block may only be called once at the end of the program.
4. Create a simple application program.
Application
program
The robot is to be moved to a position by means of a PTP motion. The follow-
ing function blocks are required for this:
 Function block KRC_Initialize to initialize the mxA interface on the robot
controller
The versions of the PLC library and mxA interface must match. The mxA
interface is initialized when the Done signal on the module is TRUE.
 Function block KRC_ReadMXAError to read mxA interface error
If an error is active, the motion enable of the robot is deactivated.
 Function block KRC_MessageReset to reset mxA interface error
 Function block KRC_AutomaticExternal to activate the Automatic External
interface
Important signals:
 ENABLE_EXT (Robot may be moved in Automatic External mode.)
 MOVE_ENABLE (Grants the robot motion enable.)
 DRIVES_OFF (Signal must be TRUE when the drives are switched
on.)
 DRIVES_ON (The drives of the robot are activated by means of a
pulse.)
 CONF_MESS (Resets the error messages of the robot controller.)
 RESET (Selects the mxAutomation robot program and starts it.)
 Function block KRC_SetOverride to set the program override of the robot
 Function block KRC_MoveDirectAbsolute to move to the desired position
by means of a PTP motion
The motion has been executed successfully when the Done signal on the
module is TRUE.
7.6 Administrative functions
7.6.1 Reading PLC-specific communication into a non-PLC-specific structure
Description The function block KRC_ReadAxisGroup translates the Rockwell-specific in-
terface to the robot controller into the non-PLC-specific structure of an axis
group. The internal data structures of the function block are initialized with the
aid of the FirstScanBit signal.
If possible, create the function blocks in the application program as a
multi-instance call. In this way, not every function block requires a
data block of its own.
If the mxAutomation robot program is started by a RESET at the func-
tion block KRC_AutomaticExternal, the override must be greater than
zero.

Kuka KUKA.PLC mxAutomation Logix 1.0 Specifications

General

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