Canceling a program (advanced)

Description

The function block KRC_AbortAdvanced 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 If the robot interpreter is no longer active, this can result in the statement being transferred, but not yet fully executed.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.

The parameter BrakeReaction can be used to define the braking reaction of the robot.

Canceling a program (advanced) 1:

KRC_AbortAdvanced is not processed if the KRC_Interrupt function block is active. In this case, the program must first be resumed with KRC_Continue before it can be aborted with KRC_AbortAdvanced.

Canceling a program (advanced) 2:
Function block KRC_AbortAdvanced

Inputs

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

  • 1 … 5

ExecuteCmd

BOOL

The statement is executed in the case of a rising edge of the signal.

BrakeReaction

INT

Braking reaction of the robot

  • 1: BRAKE
  • 2: BRAKE F (default)
  • 3: BRAKE FF

Note: Further information about the BRAKE statements is contained in the operating and programming instructions for the KUKA System Software (KSS).

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