<< Prev        Next >>

ID : 7384

MC_SetCurLmt

Configure the current limiting function and enablse.

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
  • TRUE : Start
  • FALSE : -
Execution start
When the variable is changed from FALSE to TRUE, this AOI is executed.
AxisNo Integer 1 to 8
Axis number
Specify an axis number.
SettingValue Real 0 to 100
Setting value
Specify a current limit setting value. The unit is "%".

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

About Current Limiting Function
This function sets compliance for individual axes. Limiting the torque of motors for individual axes realizes compliance. Use this function to prevent an excessive force applied to a robot or a work, or to avoid a down due to over load or over current.

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".

ID : 7384

<< Prev        Next >>