Setting KRC_AutomaticExternal inputs automatically
Description
The function block KRC_AutoStart automatically sets the existing signals of the KRC_AutomaticExternal function block in the correct sequence. This function block can be used to activate the Automatic External interface of the robot system without the need for in-depth knowledge of the individual steps.
The signals for activating the Automatic External interface are checked prior to starting. If one or more signals is missing, corresponding error numbers are displayed.
The following inputs must additionally be set at the function block KRC_AutomaticExternal:
- MOVE_ENABLE
- ENABLE_T1
- ENABLE_T2
- ENABLE_AUT
- ENABLE_EXT
- DRIVES_OFF
All other inputs are set by the function block KRC_AutoStart.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteReset |
BOOL |
Selects the mxAutomation robot program in the case of a rising edge of the signal and starts it. The program is reset beforehand and all buffered statements are aborted. |
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Busy |
BOOL |
The sequence is active but not yet completed. |
|
Done |
BOOL |
The sequence is completed. |
|
DispActive |
BOOL |
TRUE = robot program is active |
|
ResetValid |
BOOL |
TRUE = conditions for a RESET at the function block KRC_AutomaticExternal are met |
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |