90 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
7.9 Special functions
7.9.1 Reading system variables
Description The function block KRC_ReadSysVar reads a system variable. This function
is executed in the Submit interpreter.
Memory
Inputs
Avg_Duration DINT Duration of the current calculation period for the mean value
of the cycle time; unit: ms
The calculation period is restarted after a break in the con-
nection to the Submit interpreter or, at the latest, after 60 min-
utes.
ActivePosOrderID DINT Order ID of the KRC_Move motion command that is currently
being executed
ActiveOrderIDB DINT Order ID of the current KRC_Move motion command in the
advance run
ErrorID_RI DINT Robot interpreter error number
ErrorID_SI DINT Submit interpreter error number
ErrorID_PLC DINT PLC error number
ErrorID DINT Error number
Valid BOOL TRUE = data are valid
PosActValid BOOL TRUE = position data are valid (BCO)
BrakeActive BOOL TRUE = robot is stopped by means of a BRAKE statement
Error BOOL TRUE = error in function block
Parameter Type Description
Fig. 7-53: Function block KRC_ReadSysVar
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.
Index INT Index of the system variable
1: $ADVANCE
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