Kuka KUKA.PLC mxAutomation Logix 1.0

98 / 123 Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
Memory
Inputs
Outputs
Fig. 7-59: Function block KRC_TouchUP
Parameter Type Description
KRC_AxisGroup
RefArr
AXIS_GROUP_
REF_ARR
Reference to the internal structure of the axis group
PositionArray Array[100] List of the taught positions
Parameter Type Description
AxisGroupIdx INT Index of axis group
ExecuteCmd BOOL TRUE = the point is taught.
Index INT Number under which the taught point is saved
in the PLC
 1 … 100
Parameter Type Description
ErrorID DINT Error number
Done BOOL TRUE = statement has been executed
Error BOOL TRUE = error in function block