58 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Memory
Inputs
Outputs
7.6.29 Declaring interrupts
Description The function block KRC_DeclareInterrupt declares an interrupt to a digital in-
put. There are 8 predefined interrupts available for this.
Syntax GLOBAL INTERRUPT DECL 90+
Interrupt WHEN $IN[Input] == InputValue
DO
Subprogram
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.
E1_Min …
E6_Min
REAL Negative software limit switch of axis E1 … E6
(Unit: mm or °)
E1_Max …
E6_Max
REAL Positive software limit switch of axis E1 … E6
(Unit: mm or °)
BufferMode INT Mode in which the statement is executed
0: DIRECT
1: ABORTING
2: BUFFERED
(>>> "BufferMode" Page 27)
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
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