Program Structure

The following shows the Command-Slave function-used program structure created by "TIA Portal V14".

1. MC_ReadAxesGroup

To obtain information, such as the robot motion status, from the robot controller and store it to the data block "DB_DENSO_ROBOTS (DB2990)." Data obtained by this FB will be used to control robots from other FB.
Therefore, when using Command-Slave function, be sure to place this FB at the top of the program.

For details about this FB, refer to "MC_ReadAxesGroup" of Command-Slave Reference Guide.

2. MC_Initialize

To obtain the Command-Slave version of the PLC and the robot controller and check if they are the same.
If the Command-Slave version of the PLC and the robot controller are different, the robot may fail to run properly. Once the communication has been established, this FB monitors whether if the PLC and the robot controller communicate properly.
Therefore, place this FB prior to any FBs other than "MC_ReadAxesGroup".

For details about this FB, refer to "MC_Initialize" of Command-Slave Reference Guide.

3. MC_Power

To make FB with the FB category "Motion" executable and turn on the robot motor. FB with the FB category "Motion" needs to be made executable by this FB before execution.
Therefore, place this FB prior to FB with the FB category "Motion" .

For details about this FB, refer to "MC_Power" of Command-Slave Reference Guide.

4. MC_WriteAxesGroup

An instruction in "DB_DENSO_ROBOTS[DB2990]" that has been overwritten by other FB will be sent to the robot controller. The robot controller controls robots by receiving the instruction from this FB.
Therefore, when using Command-Slave function, be sure to place this FB in the end of the program.

For details about this FB, refer to "MC_WriteAxesGroup" of Command-Slave Reference Guide.