Kuka KUKA.PLC mxAutomation Logix 1.0

56 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
7.6.27 Writing the software limit switches of the robot axes
Description The function block KRC_WriteSoftEnd writes the software limit switches of the
robot axes.
Memory
Inputs
Fig. 7-28: Function block KRC_WriteSoftEnd
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 rising edge of the
signal.
A1_Min …
A6_Min
REAL Negative software limit switch of axis A1 … A6
(Unit: mm or °)