Reading and acknowledging error states

Description

The function block KRC_Error collectively reads and acknowledges the current error state of the mxA interface, the error state of the robot controller and the error state of the function blocks.

If more than one error has occurred in the function block at the same time, only the error number of the most recent error is displayed. Errors in a function block cause the motion enable to be canceled.

If more than one error has occurred at the same time, these errors are displayed with the following priority ranking:

Errors of the mxA interface in the robot interpreter
Errors of the mxA interface in the submit interpreter
ProConOS errors
Errors in the PLC
Errors in a function block of the local PLC
Errors in the robot controller

The function block KRC_Error contains all diagnostic function blocks, which means that this block displays all important diagnostic data.

Reading and acknowledging error states 1: — Function block KRC_Error

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
MessageReset	BOOL	Acknowledges error messages of the mxA interface and the robot controller TRUE = reset message Note: The messages can only be reset if the robot is stationary.

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

1 … 5

MessageReset

BOOL

Acknowledges error messages of the mxA interface and the robot controller

TRUE = reset message

Note: The messages can only be reset if the robot is stationary.

Outputs

Parameter	Type	Description
Error	BOOL	TRUE = error in function block
ErrorID	INT	Error number
NoHeartbeatKRC	BOOL	The submit interpreter is not sending a life sign
NoHeartbeatPCOS	BOOL	ProConOS is not sending a life sign
NotOnline	BOOL	No connection to robot controller
NotInitialized	BOOL	No statements can be executed, as the connection has not been initialized.
NoOpModeExt	BOOL	Robot is not in Automatic External mode
NoMoveEnable	BOOL	No motion enable present.
UserSafeNotOK	BOOL	The operator safety is violated. The $USER_SAF signal of the Automatic External interface is not active.
KrcErrorActive	BOOL	Error messages of the robot controller are active. The $STOPMESS signal of the Automatic External interface is active.
DrivesNotReady	BOOL	The drives are not ready. The $PERI_RDY signal of the Automatic External interface is not active.
NoProgActive	BOOL	The robot program is not active. The $PRO_ACT signal of the Automatic External interface is not active.