Reading diagnostic signals

Description

The function block KRC_Diag reads the diagnostic signals of the robot controller.

	The function block may only be instanced once per axis group. In the case of multiple instancing, the signals of the most recently called function block are output.

Reading diagnostic signals 2: — Function block KRC_Diag

Inputs

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
ShowTrace	BOOL	TRUE = activate display of the active function blocks in the message window of the KUKA smartHMI. FALSE = deactivate display of the active function blocks in the message window of the KUKA smartHMI. Note: Only activate the display for test and diagnostic purposes. If the display is active, approximate positioning is no longer possible and the cycle time of the submit interpreter is adversely affected.
MaxSubmitCycle	INT	Maximum cycle time of the submit interpreter Default: 1 000 ms Note: If the maximum cycle time is exceeded, the $MOVE_ENABLE signal for motion enable is reset.

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

1 … 5

ShowTrace

BOOL

TRUE = activate display of the active function blocks in the message window of the KUKA smartHMI.

FALSE = deactivate display of the active function blocks in the message window of the KUKA smartHMI.

Note: Only activate the display for test and diagnostic purposes. If the display is active, approximate positioning is no longer possible and the cycle time of the submit interpreter is adversely affected.

MaxSubmitCycle

INT

Maximum cycle time of the submit interpreter

Default: 1 000 ms

Note: If the maximum cycle time is exceeded, the $MOVE_ENABLE signal for motion enable is reset.

Outputs

Parameter	Type	Description
Valid	BOOL	TRUE = data are valid
QueueCount	INT	Number of buffered statements 1 … 90
PosActValid	BOOL	TRUE = position data are valid (BCO)
BrakeActive	BOOL	TRUE = robot is stopped by means of a BRAKE statement
SubmitHeartbeat	INT	Heartbeat signal of the submit interpreter (counter is incremented by 1 every Submit cycle) 1 … 245
SubmitCyc_Act	REAL	Current cycle time of the submit interpreter; unit: ms Mean value over 1,000 ms = 1/number of cycles per second
SubmitCyc_Min	REAL	Shortest cycle time of the submit interpreter since the last broken connection; unit: ms
SubmitCyc_Max	REAL	Longest cycle time of the submit interpreter since the last broken connection; unit: ms
SubmitCyc_Avg	INT	Mean value of the cycle time of the submit interpreter during the calculation period Avg_Duration; unit: ms
ActivePosOrderID	DINT	Order ID of the KRC_Move motion command that is currently being executed
ActiveOrderIDB	DINT	Order ID of the current KRC_Move motion command in the advance run
Avg_Duration	DINT	Duration of the current calculation period for the mean value of the cycle time; unit: ms The calculation period is restarted after a break in the connection to the submit interpreter or, at the latest, after 60 minutes.
ProconosHeartbeat	INT	Life sign from ProConOS (counter is incremented by 1 every ProConOS cycle)
ProconosCyc_Act	INT	Current cycle time of ProConOS; unit: ms Mean value over 1,000 ms = 1/number of cycles per second
ProconosCyc_Min	INT	Shortest cycle time of ProConOS since the last broken connection; unit: ms
ProconosCyc_Max	INT	Longest cycle time of ProConOS since the last broken connection; unit: ms
ProconosCyc_Avg	INT	Mean value of the cycle time of ProConOS during the calculation period Avg_Duration; unit: ms
ErrorID_RI	DINT	Robot interpreter error number
ErrorID_SI	DINT	Submit interpreter error number
ErrorID_PLC	DINT	PLC error number
ErrorID_PCOS	DINT	ProConOS error number
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number