MC_SetBufferPreset
| Graphic expression |
AOI category |
 |
Motion |
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 |
| Execute |
Boolean |
|
- Execution start
- When the variable is changed from FALSE to TRUE, this AOI is executed.
|
| BufferMode |
Integer |
0, 1, 6, 7, 8, 9 |
- Buffer mode selection
- Specify how to connect motions when this AOI is executed when the robot is in motion.
The process flow of each buffer mode is as follows:
[0 : Aborting OP0]
- The robot decelerates at 100% deceleration.
- The robot stops (End motion)
- This AOI motion is executed.
[1 : Buffered]
- The robot moves to the current target position.
- The robot stops (Encoder value check motion (Axes coordinate system)).
- This AOI motion is executed.
[6 : Blending]
- The robot moves to the vicinity of the current target position.
- The robot executes the motion end method specified in the input variable "TransitionMode".
- This AOI motion is executed.
[7 : Aborting OP1]
- The robot decelerates at 100% deceleration.
- The robot does not stop (Pass motion).
- This AOI motion is executed.
[8 : Aborting OP2]
- The robot decelerates at the current deceleration.
- The robot stops (End motion).
- This AOI motion is executed.
[9 : Aborting OP3]
- The robot decelerates at the current deceleration.
- The robot does not stop (Pass motion).
- This AOI motion is executed.
|
| TransitionMode |
Integer |
0, 3, 10, 11 |
- Transition mode selection
- Specify how to end the current motion when "6 : Blending" is selected in the input variable "BufferMode". The end method for each value is as follows:
[0 : The robot stops (Encoder value check motion (Axes coordinate system))]
[3 : The robot does not stop (Pass motion of distance designation)]
- If 3 is selected, specify a distance to start the pass motion in the input variable "TransitionParameter".
- [10 : The robot does not stop (Pass motion)]
[11 : The robot stops (Encoder value check motion (Cartesian coordinate system))]
|
| TransitionParameter |
Integer |
0 to 32767 |
- Target position
- Specify a distance to start the pass motion when "3 : The robot does not stop (Pass motion of distance designation)" is selected in the input variable "TransitionMode". Unit is millimeter.
When the distance between the robot position and the current target position is below the value of this variable ("TransitionParameter"), the pass motion starts.
|
Output Variable
| Variable name |
Data type / Description |
| Done |
Boolean |
- Execution completion confirmation
- TRUE : This AOI execution is completed.
FALSE : This AOI execution is not completed.
|
| 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
-
Attention
To execute this AOI, AOI with the AOI category "Motion" needs to be made executable.
To make AOI with the AOI category "Motion" executable, use the AOI "MC_Power".
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