Executing KRL programs
Description
The function block KRC_TechFunction is used to execute KRL programs in the robot interpreter or submit interpreter. The parameter BufferMode can be used to select the mode in which the program is executed.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
BOOL_DATA |
ARRAY [1 … 40] OF BOOL |
Array of type BOOL as transfer parameter |
|
INT_DATA |
ARRAY [1 … 40] OF DINT |
Array of type DINT as transfer parameter |
|
REAL_DATA |
ARRAY [1 … 40] OF REAL |
Array of type REAL as transfer parameter |
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteCmd |
BOOL |
The statement is executed in the case of a rising edge of the signal. |
|
TechFunctionID |
INT |
ID for selecting the function at KRL level (SWITCH CASE ID) |
|
ParameterCount |
INT |
Maximum variable index that can be used for the parameters BOOL_DATA, INT_DATA and REAL_DATA
|
|
BufferMode |
INT |
Mode in which the statement is executed
(>>> BufferMode) |
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Busy |
BOOL |
TRUE = statement is currently being transferred or has already been transferred |
|
Active |
BOOL |
TRUE = statement is currently being executed |
|
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 |