Writing a digital output

Description

The function block KRC_WriteDigitalOutput writes a digital output or a pulse output on the robot controller.

Writing a digital output 1:
Function block KRC_WriteDigitalOutput

Inputs

Parameter

Type

Description

AxisGroupIdx

INT

Index of axis group

  • 1 … 5

ExecuteCmd

BOOL

The statement is executed in the case of a rising edge of the signal.

Number

INT

Number of the digital output (corresponds to $OUT[1 … 2048] on the robot controller)

  • 1 … 2048

Note: It must be ensured that no outputs are used that are already assigned by the robot system. Example: $OUT[1025] is always TRUE.

Value

BOOL

Value of the digital output

Pulse

REAL

Length of the pulse

  • 0.0 s
  • No pulse active
  • 0.1 … 3.0 s
  • Pulse interval = 0.1 s

bContinue

BOOL

TRUE = output written in advance run

Note: The robot controller executes programs with an advance run and a main run. Further information about the advance run and main run is contained in the operating and programming instructions for the KUKA System Software (KSS).

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