94 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Outputs
7.9.4 Calling a mastering test
Description The function block KRC_MasRef calls the program for the mastering test.
The mastering test is started at the position at which the robot is located when
the program is called. The robot then moves to a Cartesian reference position.
The axis values of the addressed position are compared with the values saved
in SafeOperation. If the deviation between the current position and the refer-
ence position is too great, the mastering test has failed.
The robot then returns to the start position.
ParkAcceleration 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
Result DINT Result of the brake test
0: brake test failed (brake identified as defective or no con-
nection to robot controller)
1: brake test successful (no brake defective, but at least
one brake has reached the wear limit)
2: brake test successful (no brake defective or reached
wear limit)
ErrorID DINT Error number
Busy BOOL TRUE = statement is currently being transferred 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
The Cartesian reference position is defined in the function block with
the input parameter Position and corresponds to the reference posi-
tion defined with KUKA.SafeOperation.
Detailed information about the mastering test can be found in the doc-
umentation KUKA.SafeOperation.
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