Activating and reading Automatic External signals from the robot controller

Description

The function block KRC_AutomaticExternal activates the Automatic External interface and reads the interface signals.

The function block KRC_AutoStart can be used to simplify use of KRC_AutomaticExternal.

(>>> Setting KRC_AutomaticExternal inputs automatically)

	The function block requires the Automatic External mode of the robot system. Further information about this functionality is contained in the operating and programming instructions for the KUKA System Software (KSS).

	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.

Activating and reading Automatic External signals from the robot controller 3: — Function block KRC_AutomaticExternal

Inputs

Parameter	Type	Signal name (robot controller)	Description
AxisGroupIdx	INT	—	Index of axis group 1 … 5
MOVE_ENABLE	BOOL	$MOVE_ENABLE	TRUE = motion enable for the robot Note: This system variable is monitored by the robot controller in all operating modes.
CONF_MESS	BOOL	$CONF_MESS	TRUE = acknowledgement of error messages
DRIVES_ON	BOOL	$DRIVES_ON	TRUE = activation of the robot drives
DRIVES_OFF	BOOL	$DRIVES_OFF	TRUE = deactivation of the robot drives
EXT_START	BOOL	$EXT_START	TRUE = start or continuation of robot program execution
RESET	BOOL	—	Selects the mxAutomation robot program in the case of a rising edge of the signal and starts it. First, all buffered statements are aborted.
ENABLE_T1	BOOL	—	TRUE = enabling of T1 mode The signal $MOVE_ENABLE is suppressed in the absence of enabling. The robot cannot be moved.
ENABLE_T2	BOOL	—	TRUE = enabling of T2 mode The signal $MOVE_ENABLE is suppressed in the absence of enabling. The robot cannot be moved.
ENABLE_AUT	BOOL	—	TRUE = enabling of Automatic mode The signal $MOVE_ENABLE is suppressed in the absence of enabling. The robot cannot be moved.
ENABLE_EXT	BOOL	—	TRUE = enabling of Automatic External mode The signal $MOVE_ENABLE is suppressed in the absence of enabling. The robot cannot be moved.

Outputs

Parameter	Type	Signal name (robot controller)	Description
Valid	BOOL	—	TRUE = data are valid
RC_RDY1	BOOL	$RC_RDY1	TRUE = robot controller ready for program start
ALARM_STOP	BOOL	$ALARM_STOP	FALSE = robot stop by EMERGENCY STOP
USER_SAFE	BOOL	$USER_SAF	FALSE = operator safety violated
PERI_RDY	BOOL	$PERI_RDY	TRUE = robot drives activated
ROB_CAL	BOOL	$ROB_CAL	TRUE = robot axes mastered
IO_ACTCONF	BOOL	$IO_ACTCONF	TRUE = Automatic External interface active
STOPMESS	BOOL	$STOPMESS	TRUE = safety circuit interrupted (robot fault)
INT_E_STOP	BOOL	Int. E-Stop	TRUE = external EMERGENCY STOP FALSE = EMERGENCY STOP device pressed on the smartPAD
PRO_ACT	BOOL	$PRO_ACT	TRUE = process active at robot level
APPL_RUN	BOOL	APPL_RUN	TRUE = robot program running
PRO_MOVE	BOOL	$PRO_MOVE	TRUE = synchronous robot motion active
ON_PATH	BOOL	$ON_PATH	TRUE = robot on programmed path
NEAR_POSRET	BOOL	$NEAR_POSRET	TRUE = robot near most recently saved position on the programmed path (after leaving path)
ROB_STOPPED	BOOL	$ROB_STOPPED	TRUE = robot is at standstill
T1	BOOL	$T1	TRUE = operating mode T1 selected
T2	BOOL	$T2	TRUE = operating mode T2 selected
AUT	BOOL	$AUT	TRUE = operating mode Automatic selected
EXT	BOOL	$EXT	TRUE = operating mode Automatic External selected