Pausing robot motion

Description

The function block KRC_Interrupt is used to stop the robot. It brakes either gently (BRAKE) or as quickly as possible (BRAKE F) from high velocities.

Pausing robot motion 1:

If a BRAKE statement is active, no more statements are processed via the mxA interface. The function block KRC_Abort is also no longer processed. KRC_Abort cannot cancel the program until it has been resumed with KRC_Continue, i.e. the BRAKE statement is no longer active. While the BRAKE statement is active, the program can only be canceled by means of a RESET of the function block KRC_AutomaticExternal.

Pausing robot motion 2:
Function block KRC_Interrupt

Inputs

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

  • 1 … 5

Execute

BOOL

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

The robot program is interrupted for as long as the input Execute is set to TRUE.

Fast

BOOL

TRUE = robot stops as quickly as possible

FALSE = robot stops gently

Outputs

Parameter

Type

Description

BrakeActive

BOOL

TRUE = statement is active and robot is waiting for enabling

Error

BOOL

TRUE = error in function block

ErrorID

DINT

Error number