Initializing the mxA interface

Description

The function block KRC_Initialize initializes the mxA interface on the robot controller. Statements cannot be transferred until the interface has been initialized.

	The function block may only be instanced once per axis group. In the case of multiple instancing, the signals of the most recently called function block are output.

Initializing the mxA interface 2: — Function block KRC_Initialize

Inputs

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

1 … 5

Outputs

Parameter	Type	Description
Done	BOOL	TRUE = initialization successfully completed
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number
KRC_Serial	DINT	Serial number of the robot controller
KRC_Major	DINT	Version identifier of the mxA interface (1st digit)
KRC_Minor	DINT	Version identifier of the mxA interface (2nd digit)
KRC_Revision	DINT	Version identifier of the mxA interface (3rd digit)
KRC_AbsAccur	DINT	Version identifier of the positionally accurate robot model 1: ACTIVE (= positionally accurate robot model is loaded and is being used. A positionally accurate robot model is saved on the RDC.) 2: INACTIVE (= positionally accurate robot model is loaded, but is not used. A positionally accurate robot model is saved on the RDC, but it is currently deactivated (until the next cold start of the robot controller).) 3: NONE (= standard robot model. No positionally accurate robot model is used. No positionally accurate robot model is saved on the RDC.)
PLC_Major	DINT	Version identifier of the PLC library (1st digit)
PLC_Minor	DINT	Version identifier of the PLC library (2nd digit)
PLC_Revision	DINT	Version identifier of the PLC library (3rd digit)