Overview of function blocks

KRC_ReadAxisGroup

(>>> Reading outputs of the robot system)

KRC_WriteAxisGroup

(>>> Writing robot system inputs)

KRC_Initialize

(>>> Initializing the mxA interface)

KRC_SetOverride

(>>> Setting the program override (POV))

KRC_AutomaticExternal

(>>> Activating and reading Automatic External signals from the robot controller)

KRC_AutoStart

(>>> Setting KRC_AutomaticExternal inputs automatically)

KRC_ReadActualPosition

(>>> Reading the current robot position)

KRC_ReadActualAxisPosition

(>>> Reading the current axis position)

KRC_ReadActualVelocity

(>>> Reading the current path velocity)

KRC_ReadActualAxisVelocity

(>>> Reading the current axis velocity)

KRC_ReadActualAcceleration

(>>> Reading the current robot acceleration)

KRC_ReadDigitalInput

(>>> Reading a digital input)

KRC_ReadDigitalInput1To8

(>>> Reading digital inputs 1 to 8)

KRC_ReadDigitalInputArray

(>>> Reading multiple digital inputs)

KRC_ReadDigitalOutput

(>>> Reading a digital output)

KRC_WriteDigitalOutput

(>>> Writing a digital output)

KRC_WriteDigitalOutput1To8

(>>> Writing digital outputs 1 to 8)

KRC_ReadAnalogInput

(>>> Reading an analog input)

KRC_ReadAnalogOutput

(>>> Reading an analog output)

KRC_WriteAnalogOutput

(>>> Writing an analog output)

KRC_SetCoordSys

(>>> Selecting the tool, base and interpolation mode)

KRC_ReadToolData

(>>> Reading TOOL data)

KRC_WriteToolData

(>>> Writing TOOL data)

KRC_ReadBaseData

(>>> Reading BASE data)

KRC_WriteBaseData

(>>> Writing BASE data)

KRC_ReadLoadData

(>>> Reading the load data)

KRC_WriteLoadData

(>>> Writing load data)

KRC_ReadSoftEnd

(>>> Reading the software limit switches of the robot axes)

KRC_ReadSoftEndExt

(>>> Reading the software limit switches of the external axes)

KRC_WriteSoftEnd

(>>> Writing the software limit switches of the robot axes)

KRC_WriteSoftEndExt

(>>> Writing the software limit switches of the external axes)

KRC_MoveLinearAbsolute

(>>> Approaching an absolute Cartesian position with a linear motion)

KRC_MoveLinearRelative

(>>> Approaching a relative Cartesian position with a linear motion)

KRC_MoveDirectAbsolute

(>>> Approaching an absolute Cartesian position as quickly as possible)

KRC_MoveDirectRelative

(>>> Approaching a relative Cartesian position as quickly as possible)

KRC_MoveAxisAbsolute

(>>> Approaching an axis-specific position as quickly as possible)

KRC_MoveCircAbsolute

(>>> Approaching an absolute Cartesian position with a circular motion)

KRC_MoveCircRelative

(>>> Approaching a relative Cartesian position with a circular motion)

KRC_Jog

(>>> Jogging to an end position)

KRC_JogToolRelative

(>>> Jogging to a relative end position in the TOOL coordinate system with a linear motion)

KRC_JogLinearRelative

(>>> Jogging to a relative Cartesian position with a linear motion)

KRC_JogAdvanced

(>>> Jogging to the end position (advanced))

MC_MoveLinearAbsolute

(>>> Approaching an absolute Cartesian position with a linear motion)

MC_MoveLinearRelative

(>>> Approaching a relative Cartesian position with a linear motion)

MC_MoveDirectAbsolute

(>>> Approaching an absolute Cartesian position as quickly as possible)

MC_MoveDirectRelative

(>>> Approaching a relative Cartesian position as quickly as possible)

MC_MoveAxisAbsolute

(>>> Approaching an axis-specific position as quickly as possible)

MC_MoveCircularAbsolute

(>>> Approaching an absolute Cartesian position with a circular motion)

MC_MoveCircularRelative

(>>> Approaching a relative Cartesian position with a circular motion)

KRC_Abort

(>>> Canceling a program)

KRC_AbortAdvanced

(>>> Canceling a program (advanced))

KRC_Interrupt

(>>> Pausing robot motion)

KRC_Continue

(>>> Continuing a program)

KRC_WaitForInput

(>>> Waiting for a digital input)

KRC_DeclareInterrupt

(>>> Declaring interrupts)

KRC_ActivateInterrupt

(>>> Activating interrupts)

KRC_DeactivateInterrupt

(>>> Deactivating interrupts)

KRC_ReadInterruptState

(>>> Reading the state of an interrupt)

KRC_SetDistanceTrigger

(>>> Activating a switching action for path points)

KRC_SetPathTrigger

(>>> Activating a path-related switching action)

KRC_Error

(>>> Reading and acknowledging error states)

KRC_ReadMXAStatus

(>>> Reading the current state of the mxA interface)

KRC_ReadMXAError

(>>> Reading error messages of the mxA interface)

KRC_MessageReset

(>>> Resetting error messages of the mxA interface)

KRC_ReadKRCError

(>>> Reading error messages of the robot controller)

KRC_Diag

(>>> Reading diagnostic signals)

KRC_ReadSysVar

(>>> Reading system variables)

KRC_WriteSysVar

(>>> Writing system variables)

KRC_BrakeTest

(>>> Calling a brake test)

KRC_MasRef

(>>> Calling a mastering test)

KRC_ReadSafeOPStatus

(>>> Reading the safety controller signals)

KRC_ReadTouchUPState

(>>> Reading the state of the TouchUp status keys)

KRC_TouchUP

(>>> Teaching points)

KRC_SetAdvance

(>>> Modifying settings for the advance run)

KRC_GetAdvance

(>>> Reading settings for the advance run)

KRC_Forward

(>>> Calculating the Cartesian robot position from the axis angles)

KRC_ForwardAdvanced

(>>> Calculating the Cartesian robot position from the axis angles (advanced))

KRC_Inverse

(>>> Calculating axis angles from the Cartesian robot position)

KRC_InverseAdvanced

(>>> Calculating axis angles from the Cartesian robot position (advanced))

KRC_TechFunction

(>>> Executing KRL programs)

KRC_TechFunctionAdvanced

(>>> Executing KRL programs (advanced))

KRC_ActivatePosConversion

(>>> Displaying the current robot position in a different coordinate system)

KRC_ConvIniOff

(>>> Initializing a conveyor)

KRC_ConvOn

(>>> Activating a conveyor)

KRC_ConvFollow

(>>> Tracking a workpiece on the conveyor)

KRC_ConvSkip

(>>> Picking up a workpiece from the conveyor)

KRC_ConvDelWPS

(>>> Deleting a workpiece on the conveyor)

KRC_ActivateConvInterrupt

(>>> Activating interrupts for monitoring)

KRC_DeactivateConvInterrupt

(>>> Deactivating interrupts for monitoring)

KRC_VectorMoveOn

(>>> Activating a motion along a vector)

KRC_VectorMoveOff

(>>> Deactivating motion along a vector)

KRC_LDDconfig

(>>> Configuring load data determination)

KRC_LDDcheckPos

(>>> Checking the start position of the load data determination)

KRC_LDDtestRun

(>>> Carrying out a test run before load data determination)

KRC_LDDstart

(>>> Carrying out load data determination)

KRC_LDDwriteLoad

(>>> Assigning the load data)

KRC_WriteWorkspace

(>>> Configuring Cartesian workspaces)

KRC_ReadWorkspace

(>>> Reading the configuration of Cartesian workspaces)

KRC_WriteAxWorkspace

(>>> Configuring axis-specific workspaces)

KRC_ReadAxWorkspace

(>>> Reading the configuration of axis-specific workspaces)

KRC_ReadWorkstates

(>>> Reading the status of the workspaces)