Kuka KUKA.PLC mxAutomation Logix 1.0

51 / 123Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
7 Programming
Outputs
7.6.23 Reading the load data
Description The function block KRC_ReadLoadData reads the load data of the robot (pay-
load data or supplementary load data). This function is executed in the Submit
interpreter.
Memory
Inputs
BaseNo INT Number of the BASE coordinate system
 1 … 32: BASE_DATA[1 … 32]
BufferMode INT Mode in which the statement is executed
 0: DIRECT
 1: ABORTING
 2: BUFFERED
(>>> "BufferMode" Page 27)
Parameter Type Description
Parameter Type Description
ErrorID DINT Error number
Busy BOOL TRUE = statement is currently being trans-
ferred or has already been transferred
Done BOOL TRUE = statement has been executed
Aborted BOOL TRUE = statement was aborted before it was
processed in the advance run
Error BOOL TRUE = error in function block
Fig. 7-24: Function block KRC_ReadLoadData
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