Programming tips for Tc3_mxAutomation

Instantiation

The following function blocks may only be instantiated once per robot. In case of multiple instantiation, the signals of the most recently called function block are output.

• KRC_ReadAxisGroup
• KRC_Initialize
• KRC_SetOverride
• KRC_AutomaticExternal
• KRC_AutoStart
• KRC_Diag
• KRC_WriteAxisGroup

All other function blocks used in the mxAutomation robot program can be created as a multi-instance call.

ExecuteCmd

• If possible, only set an ExecuteCmd input for one function block of the same robot simultaneously.
• Do not reset an ExecuteCmd input after an activation until the function block confirms the execution of the instruction by the Done signal or indicates by the Error or Aborted signal that the instruction was not executed. If the ExecuteCmd input is reset beforehand, it is not reported back whether the instruction was executed.
• If the Busy or ComAcpt output of a function block is connected to the ExecuteCmd input of the following function block, a sequence of consecutive functions can be transferred to the instruction buffer and executed.

Program override

If the function block KRC_AutomaticExternal is used, the program override must be set to a value greater than zero. Only then a PLC program can be processed.

Contouring

Contouring means: the programmed point is not approached exactly. Contouring is an option which can be selected during motion programming.

• Contouring is only possible if 2 motion instructions follow each other.
• Contouring is only possible if the motion instruction is followed by a motion instruction transmitted in BUFFERED mode.