Activating a switching action for path points

Description

The function block KRC_SetDistanceTrigger triggers a path-related switching action in the case of PTP or LIN motions.

The Trigger triggers a defined statement. The statement refers to the start point or end point of the motion block. The statement is executed parallel to the robot motion.

The statement can be shifted in time. It is then not triggered exactly at the start or end point, but brought forward or delayed.

Activating a switching action for path points 1:

Further information on triggers, on offsetting the switching point and on the offset limits can be found in the operating and programming instructions for the KUKA System Software (KSS).

Activating a switching action for path points 2:
Function block KRC_SetDistanceTrigger

Inputs

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

  • 1 … 5

ExecuteCmd

BOOL

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

Distance

INT

Switching point of the trigger

  • 0: Switching action at the start point
  • 1: Switching action at the end point

Delay

INT

Statement delay

  • Delay = 0 ms: no delay

The statement cannot be shifted freely in time. The shifts that are available depend on the value selected for Distance. Further information about this is contained in the operating and programming instructions for the KUKA System Software (KSS).

Output

INT

Number of the digital output that can be set by the switching action

  • 1 … 2048

Note: It must be ensured that no outputs are used that are already assigned by the system. Example: $OUT[1025] is always TRUE.

Value

BOOL

TRUE = activate output

FALSE = deactivate output

Pulse

REAL

Length of the pulse

  • 0.0 s
  • No pulse active
  • 0.1 … 3.0 s
  • Pulse interval = 0.1 s

BufferMode

INT

Mode in which the statement is executed

  • 1: ABORTING
  • 2: BUFFERED

(>>> BufferMode)

Outputs

Parameter

Type

Description

Busy

BOOL

TRUE = statement is currently being transferred or has already been transferred

Done

BOOL

TRUE = statement has been processed

Note: The statement can no longer be aborted. Exception: Program is deselected or reset. The signal does not indicate whether the switching action has really been triggered.

Aborted

BOOL

TRUE = statement has been aborted

Error

BOOL

TRUE = error in function block

ErrorID

DINT

Error number