Configuring axis-specific workspaces

Description

The function block KRC_WriteAxWorkspace is used to configure axis-specific workspaces for the robot. These serve to protect the system. A maximum of 8 axis-specific workspaces can be configured at any one time. The workspaces may overlap.

Configuring axis-specific workspaces 1:
Function block KRC_WriteAxWorkspace

Inputs

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

  • 1 … 5

ExecuteCmd

BOOL

Starts/buffers the motion in the case of a rising edge of the signal.

WorkspaceNo

INT

Number of workspace

  • 1 … 8

WorkspaceMode

INT

Mode for workspaces

  • 0: #OFF
  • 1: #INSIDE
  • 2: #OUTSIDE
  • 3: #INSIDE_STOP
  • 4: #OUTSIDE_STOP

Note: Further information about the mode for workspaces is contained in the operating and programming instructions for the KUKA System Software (KSS).

WorkspaceData

AXBOX

Data of the workspace

(>>> Data of an axis-specific workspace)

BufferMode

INT

Mode in which the statement is executed

  • 0: DIRECT
  • 1: ABORTING
  • 2: BUFFERED

(>>> 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