Kuka KUKA.PLC mxAutomation Logix 1.0 User Manual

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

Kuka KUKA.PLC mxAutomation Logix 1.0 Specifications

General

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