Canceling a program
Description
The function block KRC_Abort cancels active and buffered statements and motions. The parameter Active specifies whether or not the statement is still being executed. If the robot interpreter is no longer active, this can result in the statement being transferred, but not yet fully executed.
Statements and motions of function blocks without BufferMode or QueueMode that are executed cyclically are not canceled.
 | KRC_Abort is not processed if the function block KRC_Interrupt is active. In this case, the program must first be resumed with KRC_Continue before it can be aborted with KRC_Abort. |
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteCmd |
BOOL |
The statement is executed in the case of a rising edge of the signal. |
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Busy |
BOOL |
TRUE = statement is currently being transferred or has already been transferred |
|
Active |
BOOL |
TRUE = statement is currently being executed |
|
Done |
BOOL |
TRUE = statement has been executed |
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |