Kuka .PLC mxAutomation Logix 1.0 Manual page 4

KUKA.PLC mxAutomation Logix 1.0
7.6.12 Reading a digital output ........................................................................................
7.6.13 Writing a digital output ..........................................................................................
7.6.14 Reading an analog input ......................................................................................
7.6.15 Reading an analog output ....................................................................................
7.6.16 Writing an analog output ......................................................................................
7.6.17 Wait statement (read digital input) ........................................................................
7.6.18 Selecting the tool, base and interpolation mode ...................................................
7.6.19 Reading TOOL data .............................................................................................
7.6.20 Writing TOOL data ................................................................................................
7.6.21 Reading BASE data .............................................................................................
7.6.22 Writing BASE data ................................................................................................
7.6.23 Reading the load data ..........................................................................................
7.6.24 Writing load data ..................................................................................................
7.6.25 Reading the software limit switches of the robot axes ..........................................
7.6.26 Reading the software limit switches of the external axes .....................................
7.6.27 Writing the software limit switches of the robot axes ............................................
7.6.28 Writing the software limit switches of the external axes .......................................
7.6.29 Declaring interrupts ..............................................................................................
7.6.30 Activating interrupts ..............................................................................................
7.6.31 Deactivating interrupts ..........................................................................................
7.6.32 Reading the state of an interrupt ..........................................................................
7.6.33 Activating a path-related switching action (TRIGGER WHEN DISTANCE) .........
7.6.34 Activating a path-related switching action (TRIGGER WHEN PATH) ..................
7.6.35 Canceling a program ............................................................................................
7.6.36 Stopping the robot ................................................................................................
7.6.37 Continuing a program ...........................................................................................
7.7 Functions for activating motions ................................................................................
7.7.1 Moving to a Cartesian position with a LIN motion ................................................
7.7.2 Moving to a Cartesian position with a LIN_REL motion .......................................
7.7.3 Moving to a Cartesian position with a PTP motion ...............................................
7.7.4 Moving to a Cartesian position with a PTP_REL motion ......................................
7.7.5 Moving to an axis-specific position with a PTP motion .........................................
7.7.6 Moving to a Cartesian position with a CIRC motion .............................................
7.7.7 Moving to a Cartesian position with a CIRC_REL motion ....................................
7.7.8 Jogging to a relative end position .........................................................................
7.7.9 Jogging to a relative end position in the TOOL coordinate system ......................
7.8 Diagnostic functions ..................................................................................................
7.8.1 Reading the current state of the mxA interface ....................................................
7.8.2 Reading error messages of the mxA interface .....................................................
7.8.3 Resetting error messages of the mxA interface ...................................................
7.8.4 Reading error messages of the robot controller ...................................................
7.8.5 Reading diagnostic signals ...................................................................................
7.9 Special functions .......................................................................................................
7.9.1 Reading system variables ....................................................................................
7.9.2 Writing system variables .......................................................................................
7.9.3 Calling a brake test ...............................................................................................
7.9.4 Calling a mastering test ........................................................................................
7.9.5 Reading the safety controller signals ....................................................................
7.9.6 Reading the state of the TouchUp status keys .....................................................
4 / 123
Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
40
41
42
43
44
45
46
47
48
49
50
51
52
54
55
56
57
58
60
61
62
63
65
67
68
69
69
69
71
73
75
76
77
80
82
84
86
86
86
87
87
88
90
90
91
92
94
96
97