Activating a conveyor
Description
The function block KRC_ConvOn activates the AMI, i.e. sets it to the #ACTIVE state. If the AMI is activated, the synchronization signals at the input of interface X33 (Fast Measurement) are evaluated.
The conveyor offset can be detected out in the background leaving the robot controller free to perform other tasks. This allows the robot to carry out on-the-fly tracking of a part on the conveyor.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteCmd |
BOOL |
Starts/buffers the motion in the case of a rising edge of the signal. |
|
ConveyorNumber |
INT |
Number of the conveyor
|
|
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 |
|
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 |