Kuka KUKA.PLC mxAutomation Logix 1.0

41 / 123Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Memory
Inputs
Outputs
7.6.13 Writing a digital output
Description The function block KRC_WriteDigitalOutput writes a digital output or a pulse
output on the robot controller. This function is executed in the Submit interpret-
er.
Fig. 7-13: Function block KRC_ReadDigitalOutput
Parameter Type Description
KRC_AxisGroup
RefArr
AXIS_GROUP_
REF_ARR
Reference to the internal structure of the axis group
Parameter Type Description
AxisGroupIdx INT Index of axis group
ExecuteCmd BOOL The statement is executed in the case of a ris-
ing edge of the signal.
Number INT Number of the digital output
 1 … 2 048
Parameter Type Description
ErrorID DINT Error number
Done BOOL TRUE = statement has been executed
Value BOOL Value of the digital output
Error BOOL TRUE = error in function block
Fig. 7-14: Function block KRC_WriteDigitalOutput