Modifying settings for the advance run

0: The currently set mode is not changed.
1: If the first instruction is an approximated motion instruction, the system waits for further instructions.
2: The system always waits for the number of set functions or for the maximum wait time to elapse.

Description

The settings for the advance run are modified using the function block KRC_SetAdvance.

The advance run is the maximum number of motion blocks that the robot controller calculates and plans in advance during program execution. The actual number is dependent on the capacity of the computer. The advance run is required, for example, in order to be able to calculate approximate positioning motions.

	If the program execution is reset, the set values are reset to the default values.

Modifying settings for the advance run 2: — Function block KRC_SetAdvance

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.
Count	INT	Number of functions to be transferred before the first robot motion 1 … 50 Default value: 2
MaxWaitTime	INT	Maximum wait time before the beginning of program execution if the set number of functions is not reached in the parameter count. 1 … 32 767 ms Default value: 300 ms
Mode	INT	Wait mode 0: The currently set mode is not changed. 1: If the first instruction is an approximated motion instruction, the system waits for further instructions. 2: The system always waits for the number of set functions or for the maximum wait time to elapse. Default value: 1
BufferMode	INT	Mode in which the statement is executed 0: DIRECT 1: ABORTING 2: BUFFERED (>>> BufferMode)

Outputs

Parameter	Type	Description
Busy	BOOL	TRUE = statement has been transferred
Done	BOOL	TRUE = statement has been executed
Aborted	BOOL	TRUE = statement has been aborted
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number