Reading error messages of the robot controller

Description

The function block KRC_ReadKRCError reads the current error state of the robot controller. Only error messages generated by the robot controller are displayed.

	Messages can only be reset if the robot is stationary.

Reading error messages of the robot controller 2: — Function block KRC_ReadKRCError

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
ExecuteCmd	BOOL	The statement is executed in the case of a rising edge of the signal.
Offset	INT	If there are more than 10 messages in the message buffer, the desired start index of the message buffer can be selected using the offset. Example: If there are 15 messages in the message buffer, the offset must be 6 in order to read messages 6 to 15.

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

1 … 5

ExecuteCmd

BOOL

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

Offset

INT

If there are more than 10 messages in the message buffer, the desired start index of the message buffer can be selected using the offset.

Example: If there are 15 messages in the message buffer, the offset must be 6 in order to read messages 6 to 15.

Outputs

Parameter	Type	Description
Done	BOOL	TRUE = data are valid
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number
STOPMESS	BOOL	TRUE = safety circuit is interrupted (robot fault)
MessageCount	INT	Number of messages in the message buffer
Message1 … Message10	DINT	The numbers of up to 10 messages in the message buffer can be output.