Kuka KUKA.PLC mxAutomation Logix 1.0

76 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Outputs
7.7.5 Moving to an axis-specific position with a PTP motion
Description The function block KRC_MoveAxisAbsolute executes a point-to-point motion
to an axis-specific end position. The axis positions are absolute.
Memory
Velocity INT Velocity
 0 … 100%
Refers to the maximum value specified in the machine
data. The maximum value depends on the robot type and
the selected operating mode.
Default: 0% (= velocity is not changed)
Acceleration INT Acceleration
 0 … 100%
Refers to the maximum value specified in the machine
data. The maximum value depends on the robot type and
the selected operating mode.
Default: 0% (= acceleration is not changed)
BufferMode INT Mode in which the statement is executed
 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
Active BOOL TRUE = motion is currently being executed
Done BOOL TRUE = motion has stopped
Aborted BOOL TRUE = statement/motion has been aborted
Error BOOL TRUE = error in function block
Fig. 7-43: Function block KRC_MoveAxisAbsolute