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General| Brand | Kuka |
|---|---|
| Model | KUKA.PLC mxAutomation Logix 1.0 |
| Category | Industrial Equipment |
| Language | English |
Specifies the intended audience and required knowledge for the manual.
Lists the various documents comprising the industrial robot documentation.
Explains the meaning and usage conventions for safety warnings and informational notes.
Offers a general overview of the KUKA.PLC mxAutomation Logix package and its capabilities.
Defines the intended applications and required software versions for KUKA.PLC mxAutomation Logix.
Emphasizes the necessity of adhering to safety instructions within this and other KUKA manuals.
Lists the essential hardware and software prerequisites for installing KUKA.PLC mxAutomation Logix.
Provides a step-by-step guide for installing or updating the KUKA.PLC mxAutomation software package.
Identifies menus and commands specific to the KUKA.PLC mxAutomation Logix technology package.
Explains the function and usage of status keys for teaching points on the KUKA smartPAD.
Offers an overview of the start-up and configuration process for KUKA.PLC mxAutomation Logix.
Details configuring message transfer from the smartHMI to external systems using UDP/IP protocol.
Presents an overview and categorization of the function blocks available for mxAutomation programming.
Explains common input/output signals utilized across various function blocks.
Describes the KRC_AxisGroupRefArr signal, essential as a reference for function blocks.
Details key input signals such as AxisGroupIdx and ExecuteCmd for function block operation.
Explains common output signals including Busy, Active, Done, Error, and ErrorID.
Illustrates the signal sequence for successful execution of the ExecuteCmd command.
Describes data structures like APO, CPTP, CDIS, CORI, CVEL used in motion programming.
Defines coordinate systems relevant to motion commands and their associated parameters.
Details angular or translation values for robot axes within motion commands.
Specifies Cartesian coordinates for end positions utilized in motion commands.
Defines space coordinates and orientation for TOOL or BASE coordinate systems.
Explains integer variables such as BufferMode used within function blocks.
Describes orientation control types specifically for circular robot motion.
Explains orientation control types for the robot's Tool Center Point (TCP).
Details the current state of the mxA interface, covering Invalid, Error, StandBy, Executing, and Aborting.
Offers practical advice and best practices for programming with the KUKA.PLC mxAutomation package.
Explains function block instancing and the implications of multiple instances per robot.
Provides guidelines and best practices for effectively using the ExecuteCmd input parameter.
Details how to set and use the program override feature for robot execution.
Explains the concept and application of approximate positioning in motion programming.
Illustrates the basic structure of an mxAutomation robot program using the MxA_Rockwell_Sample.ACD template.
Covers essential administrative functions for managing the KUKA.PLC mxAutomation system.
Explains KRC_ReadAxisGroup for translating PLC interface into a non-PLC-specific axis group structure.
Details KRC_WriteAxisGroup for translating an axis group structure into PLC-specific communication.
Describes KRC_Initialize for initializing the mxA interface and checking software compatibility.
Explains KRC_SetOverride for setting the robot’s program override percentage (velocity).
Details KRC_AutomaticExternal for managing Automatic External interface signals from the robot controller.
Describes KRC_ReadActualPosition for reading the robot's current Cartesian TCP position.
Explains KRC_ReadActualAxisPos for reading the robot's current axis-specific position.
Details KRC_ReadActualVelocity for reading the current path velocity of the robot.
Describes KRC_ReadActualAxisVelocity for reading the robot's current axis-specific velocity.
Explains KRC_ReadActualAcceleration for reading the robot's current Cartesian acceleration at the TCP.
Details KRC_ReadDigitalInput for reading a digital input from the robot controller.
Describes KRC_ReadDigitalOutput for reading a digital output from the robot controller.
Explains KRC_WriteDigitalOutput for writing a digital output or pulse on the robot controller.
Details KRC_ReadAnalogInput for reading an analog input from the robot controller.
Describes KRC_ReadAnalogOutput for reading an analog output from the robot controller.
Explains KRC_WriteAnalogOutput for writing an analog output on the robot controller.
Details KRC_WaitForInput to pause program execution until a digital input meets a specified condition.
Explains KRC_SetCoordSys for setting coordinate systems without immediate motion execution.
Describes KRC_ReadToolData for reading the robot's TOOL data.
Explains KRC_WriteToolData for writing the robot's TOOL data.
Details KRC_ReadBaseData for reading the robot's BASE data.
Explains KRC_WriteBaseData for writing the robot's BASE data.
Describes KRC_ReadLoadData for reading the robot's load data.
Explains KRC_WriteLoadData for writing the robot's load data.
Details KRC_ReadSoftEnd for reading the robot axes' software limit switches.
Explains KRC_ReadSoftEndEx for reading external axes' software limit switches.
Details KRC_WriteSoftEnd for writing the robot axes' software limit switches.
Explains KRC_WriteSoftEndEx for writing external axes' software limit switches.
Describes KRC_DeclareInterrupt for declaring interrupts to specific digital inputs.
Explains KRC_ActivateInterrupt for activating previously declared interrupts.
Details KRC_DeactivateInterrupt for deactivating previously declared interrupts.
Describes KRC_ReadInterruptStatus for reading the state of an interrupt in the advance run.
Explains KRC_SetDistanceTrigger for path-related switching actions based on distance.
Details KRC_SetPathTrigger for path-related switching actions based on path.
Explains KRC_Abort for canceling active and buffered statements and motions.
Describes KRC_Interrupt for stopping the robot using a BRAKE statement.
Explains KRC_Continue for resuming program execution after an interrupt.
Covers various functions for activating different types of robot motions.
Details KRC_MoveLinearAbsolute for executing linear motions to Cartesian end positions.
Explains KRC_MoveLinearRelative for linear motions relative to the current robot position.
Describes KRC_MoveDirectAbsolute for point-to-point motions to Cartesian end positions.
Explains KRC_MoveDirectRelative for point-to-point motions relative to the current position.
Details KRC_MoveAxisAbsolute for point-to-point motions to axis-specific end positions.
Explains KRC_MoveCircAbsolute for executing circular motions to Cartesian end positions.
Describes KRC_MoveCircRelative for circular motions relative to the current robot position.
Explains KRC_JogLinearRelative for jogging to a relative end position via linear motion.
Details KRC_JogToolRelative for jogging to a relative end position within the TOOL coordinate system.
Covers functions for diagnosing the state and errors of the mxA interface and robot controller.
Describes KRC_ReadMXAStatus for reading the mxA interface's current operational state.
Explains KRC_ReadMXAError for retrieving error messages from the mxA interface.
Details KRC_MessageReset for clearing mxA interface error states.
Describes KRC_ReadKRCError for retrieving error messages from the robot controller.
Explains KRC_Diag for reading diagnostic signals of the robot controller.
Covers special functions for system variable access, brake tests, and mastering.
Describes KRC_ReadSysVar for reading system variables.
Explains KRC_WriteSysVar for writing system variables.
Details KRC_BrakeTest for performing a robot brake test.
Describes KRC_MasRef for initiating a robot mastering test.
Explains KRC_ReadSafeOPStatus for reading safety controller signals.
Details KRC_ReadTouchUPState for reading the status of smartPAD TouchUp keys.
Explains KRC_TouchUP for teaching points directly via the PLC.
Lists and explains error messages from the mxA interface within the robot interpreter.
Lists and explains error messages from the mxA interface within the Submit interpreter.
Details common errors encountered within function blocks and provides remedies.
Provides information and requirements for requesting technical support from KUKA.
Lists KUKA Customer Support contact information by country and region.