Reading settings for the advance run

Description

Function block KRC_GetAdvance reads the values that have been set in the function block KRC_SetAdvance.

Reading settings for the advance run 1:
Function block KRC_GetAdvance

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.

Outputs

Parameter

Type

Description

Done

BOOL

TRUE = statement has been executed

Count

INT

Number of functions to be transferred by the PLC 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

Error

BOOL

TRUE = error in function block

ErrorID

DINT

Error number