Reading The Software Limit Switches Of The External Axes - Kuka .PLC mxAutomation Logix 1.0 Manual

Parameter Type
A1_Min ... REAL
A6_Min
A1_Max ... REAL
A6_Max
ErrorID DINT
Done BOOL
Error BOOL
7.6.26

Reading the software limit switches of the external axes

The function block KRC_ReadSoftEndEx reads the software limit switches of
Description
the external axes. This function is executed in the Submit interpreter.
Fig. 7-27: Function block KRC_ReadSoftEndEx
Memory
Parameter Type
KRC_AxisGroup AXIS_GROUP_
RefArr REF_ARR
Inputs
Outputs
Parameter Type
E1_Min ... REAL
E6_Min
E1_Max ... REAL
E6_Max
ErrorID DINT
Done BOOL
Error BOOL
Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
Description
Negative software limit switch of axis A1 ... A6
Positive software limit switch of axis A1 ... A6
Error number
TRUE = statement has been executed
TRUE = error in function block
Description
Reference to the internal structure of the axis group
Parameter Type
AxisGroupIdx INT
ExecuteCmd BOOL
Description
Negative software limit switch of axis E1 ... E6
Positive software limit switch of axis E1 ... E6
Error number
TRUE = statement has been executed
TRUE = error in function block
Description
Index of axis group
The statement is executed in the case of a ris-
ing edge of the signal.
7 Programming
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