E_KINSTATUS

This enumeration defines the kinematic group state.

TYPE E_KINSTATUS :
(
    KinStatus_Error,            
    KinStatus_Empty,            
    KinStatus_Unknown,     
    KinStatus_StartPending, 
    KinStatus_Ready,         
    KinStatus_InvalidItfVersion := 16#4000
);
END_TYPE
E_KINSTATUS 1:

KinStatus_Empty: ACS axes can be moved. No transformation activated

KinStatus_Ready: MCS axes can be moved.Transformation active.

KinStatus_InvalidItfVersion: A Function or Function block is not supported by this version of cyclic channel interface. To use the function it is required to update

E_KINSTATUS 2:

Enabling Configuration

The ACS axes must be enabled for the state to reach KinStatus_Ready.