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ID : 7341
MC_WriteAxesGroup
To send the content of a robot variable to a robot controller. It also changes the external speed of the robot controller.
| Graphic expression | AOI category |
|---|---|
 |
Unique |
Input and Output Variable
| Variable name | Data type | Valid range | Conditions for Input and Output |
|---|---|---|---|
| AxesGroup | eRC_AxesGroup | - | |
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| OutAddress | ARRAY[0..63] of DINT | - | |
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Input Variable
| Variable name | Data type | Valid range |
|---|---|---|
| Override | Integer | 1 to 100 |
|
||
Output Variable
| Variable name | Data type / Description |
|---|---|
| Error | Boolean |
|
|
| ErrorID | Integer |
|
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| ErrorIDEx | DInt |
|
Function Description
To send the content of a robot variable (structured type data: eRC_AxisGroup) to a robot controller.
In actual operation, "Cmd" variable which is in the robot variable (structured type data: eRC_AxisGroup) is sent to a robot controller.
For OutAddress, specify an output tag that has been generated in EtherNet/IP communication. (In the following sample, [DN_Robot_EIP：O.Data] is selected.)
For the way of EtherNet/IP communication setting, refer to "Hardware Configurations" of Command-Slave application guide_Rockwell.
Attention
The value of the variable "Cmd" (*1) updated in other AOI of Command-Slave is transmitted to the robot controller by this AOI. Unless the value of the variable "Cmd" is transmitted to the robot controller, the robot cannot be controlled.
Therefore, be sure to place this AOI in the end of the program.
*1 : "Cmd" variable is a variable that is stored in the robot variable (structured type data: eRC_AxisGroup).
ID : 7341