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.
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 KRC_Abort cannot cancel the program until it has been resumed with KRC_Continue, i.e. the BRAKE statement is no longer active.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. |
Inputs
Parameter |
Type |
Description |
---|---|---|
AxisGroupIdx |
INT |
Index of axis group
|
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 |