Executing KRL programs (advanced)
Description
The function block KRC_TechFunctionAdvanced is used to execute KRL programs in the submit interpreter. The return values of the KRL function are output in the parameter ReturnValue.
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
|
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 |
|
ReturnValue |
ARRAY [1 … 12] OF REAL |
Array of type REAL as return values from the KRL function |