Signal sequence for execution of ExecuteCmd
Example
The signal curve is shown for the following case:
- An instruction was transferred via ExecuteCmd and executed successfully.
Signal curve - ExecuteCmd successful
Pos. | Description |
|---|---|
1 | The function block is transferred to the robot (= request to execute instruction). |
2 | The instruction is transferred. |
3 | The instruction is currently executed. |
4 | The instruction was completed successfully. Neither an error occurred nor was the instruction aborted, e.g. by KRC_Abort. In case of an error, the Error signal would be set instead of the Done signal, and in case of an abort, the Aborted signal would be set instead of the Done signal. |
5 | When the ExecuteCmd input is reset, the outputs are also reset. |
Variations
- ExecuteCmd is reset before Done is set. In this case, the instruction is executed, but the Done signal is not set. This means that it is not reported back that the instruction was executed.
- ExecuteCmd is reset before Error or Aborted is set. In this case the instruction is aborted, but the Error or Aborted signal is not set. This means that it is not reported back that the instruction was aborted.
- ExecuteCmd is reset before Active is set. In this case, the function block is deleted from the robot's instruction buffer.
- ExecuteCmd is reset before Busy is set. In this case the function block is not transferred to the robot and consequently the instruction is not executed.