31 / 123Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
This initialization must be carried out when the program is executed for the first
time after a restart of the PLC. It is therefore advisable to link the FirstScanBit
signal to the S:FS system signal of the PLC.
Memory
Inputs
Outputs
7.6.2 Writing a non-PLC-specific structure into PLC-specific communication
Description The function block KRC_WriteAxisGroup translates the non-PLC-specific
structure of an axis group into the Rockwell-specific interface to the robot con-
troller.
The function block KRC_ReadAxisGroup must always be called at
the start of the program. Access to the axis group structure is only
permissible between KRC_ReadAxisGroup and
KRC_WriteAxisGroup.
The function block may only be instanced once per robot. In the case
of multiple instancing, the signals of the most recently called function
block are output.
Fig. 7-2: Function block KRC_ReadAxisGroup
Parameter Type Description
KRC_AxisGroup
RefArr
AXIS_GROUP_
REF_ARR
Reference to the internal structure of the axis group
imxA_IN MXA_SYNC_IO Structure map of the digital Boolean inputs
KRC4_Input INT Structure map of the input range of the robot controller
Parameter Type Description
AxisGroupIdx INT Index of axis group
FirstScanBit BOOL TRUE = initialize the internal data structures of
the function block.
Parameter Type Description
ErrorID DINT Error number
Error BOOL TRUE = error in function block
The function block KRC_WriteAxisGroup must always be called at
the end of the program. Access to the axis group structure is only per-
missible between KRC_ReadAxisGroup and KRC_WriteAxisGroup.
The function block may only be instanced once per robot. In the case
of multiple instancing, the signals of the most recently called function
block are output.
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