Input signals
AxisGroupIdx
The robot system is selected via this signal input. Up to 5 robot systems can be used.
A robot system is a grouping of axes into an axis group.
ExecuteCmd
When this signal input is set, mxAutomation transfers the associated function block to the robot. The function block is stored by the robot in an instruction buffer, provided that there is still free space in the buffer. If the ExecuteCmd input is reset, mxAutomation deletes the function block from the buffer again, unless execution of the instruction has already begun.
BufferMode
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. |