Writing an analog output
Description
The function block KRC_WriteAnalogOutput polls and writes an analog output of the robot controller.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteCmd |
BOOL |
The statement is executed in the case of a rising edge of the signal. |
|
Number |
INT |
Number of the analog output ($ANOUT[1 … 32] on the robot controller)
|
|
Value |
REAL |
Value of the analog output |
|
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
(>>> 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 |