Input signals
AxisGroupIdx
This signal input is used to set the number of the robot addressed by a function block.
Execute
If this signal is set, mxAutomation transfers the associated function block to the robot. The function block is stored in a statement buffer by the robot, provided there is still sufficient space in the buffer. If the Execute input is reset, mxAutomation deletes the function block from the buffer again unless execution of the statement has already begun.
QueueMode
Mode in which an instruction is executed on the robot controller
Value | Name | Description |
|---|---|---|
0 | DIRECT | Instruction is executed directly by the Submit interpreter (Submit program). This mode is not available for some function blocks. |
1 | ABORTING | Instruction is executed immediately by the Robot interpreter (main program). Before that, all active movements and buffered instructions are aborted and the robot is completely decelerated. |
2 | BUFFERED | Instruction is buffered. Buffered instructions are processed by the Robot interpreter (main program) according to the FIFO principle. |
CircType
Orientation control for circular motion
Value | Name | Description |
|---|---|---|
0 | BASE | Basic orientation control during a circular motion |
1 | PATH | Path-related orientation control during a circular motion |
OriType
Orientation control for the TCP
Value | Name | Description |
|---|---|---|
0 | VAR | The orientation of the TCP changes continuously during the movement. |
1 | CONSTANT | The orientation of the TCP remains constant during the movement. |
2 | JOINT | The orientation of the TCP changes continuously during the movement, but not quite uniformly. This is done by linear transfer (axis-specific method) of the manual axis angles. This orientation type is not suitable if a certain course of the orientation must be held exactly. |