Output signals

Busy

This signal output indicates that the associated function block is currently being transferred to the robot's instruction buffer or has already been transferred. It is reset when the ExecuteCmd input is reset.

Active

This signal output indicates that the associated function block is currently being executed on the robot. It is reset when the ExecuteCmd input is reset.

Done

This signal output indicates that the associated function block has been successfully executed by the robot. It is reset when the ExecuteCmd input is reset.

Error

This signal output indicates that an error has occurred during the execution of the associated function block. In this case, the ErrorID signal output contains an error number. It is reset when the ExecuteCmd input is reset.

ErrorID

This signal output contains an error number.

The errors and error causes associated with the error number are described here: (>>> Messages)

Aborted

This signal output is set either when the function block KRC_Abort is executed or when an instruction is executed in ABORTING mode. It is reset when the ExecuteCmd input is reset.