<< Prev        Next >>

ID : 7342

MC_Power

To make AOI with the AOI category "Motion" executable and turn on the robot motor.

Graphic expression AOI category
Unique

Input and Output Variable

Variable name Data type Valid range Conditions for Input and Output
AxesGroup eRC_AxesGroup -
Robot group
Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Input Variable

Variable name Data type Valid range
Enable Boolean
  • TRUE : Enable
  • FALSE : -
Execution-available state
Changing this signal from FALSE to TRUE makes the AOI category "Motion" executable.
TRUE : Makes it executable and turns on the robot motor.
FALSE : Makes it non-executable and turns off the robot motor.

Output Variable

Variable name Data type / Description
Status Boolean
Whether or not AOI with the AOI category "Motion" is executable
TRUE : It is executable, and the robot motor is turned on.
FALSE : It is not executable, and the robot motor is turned off.
Busy Boolean
Processing status of this AOI
TRUE : Being executed.
FALSE : Not being executed.
Error Boolean
Error presence
TRUE: This AOI ended abnormally.
FALSE : This AOI ended successfully.
ErrorID Integer
Error location
2800 : The error occurred in the PLC program.
2801 : The error occurred in the robot controller.
ErrorIDEx DInt
Error Code
This is a number to identify the error description.
For details, refer to "Error code list".

Function Description

AOI with the AOI category "Motion" needs to be made executable by this AOI before execution.
While AOI with the AOI category "Motion" is being executed, the input variable "Enable" in this AOI needs to be set to TRUE.

Attention

When an error occurs in the robot controller, AOI with the AOI category "Motion" may be made non-executable (The output variable "Status" in this AOI becomes FALSE).
Then, if the AOI with the AOI category "Motion" needs to be executed, use the following procedure to make the AOI with the AOI category "Motion" executable beforehand.

  1. Reset the error.
  2. Set the input variable "Enable" in this AOI to FALSE.
  3. Set the input variable "Enable" in this AOI to TRUE.

ID : 7342

<< Prev        Next >>