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 KRC_Abort cannot cancel the program until it has been resumed with KRC_Continue, i.e. the BRAKE statement is no longer active.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.

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

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

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