54 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Outputs
7.6.25 Reading the software limit switches of the robot axes
Description The function block KRC_ReadSoftEnd reads the software limit switches of the
robot axes. This function is executed in the Submit interpreter.
Memory
Inputs
Outputs
JX, JY, JZ REAL Mass moments of inertia
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. 7-26: Function block KRC_ReadSoftEnd
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.
To Next Page
Loading...
Need help?
General
