ID : 7392

MC_ForceChangeTable

Change the force control number used when the force control is performed.

Graphic expression	AOI category
	Motion

Input and Output Variable

Variable name	Data type	Valid range	Conditions for Input and Output
AxesGroup	eRC_AxesGroup		-
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 : -
Execute	Execution start When the variable is changed from FALSE to TRUE, this AOI is executed.
ForceCtrlNo	Integer	1 to 10
ForceCtrlNo	Force Control Number Select a force control number (parameter table number for compliance function) 1 to 10.

Output Variable

Variable name	Data type / Description
Done	Boolean
Done	Execution completion confirmation TRUE : This AOI execution is completed. FALSE : This AOI execution is not completed.
Busy	Boolean
Busy	Processing status of this AOI TRUE : Being executed. FALSE : Not being executed.
Error	Boolean
Error	Error presence TRUE: This AOI ended abnormally. FALSE : This AOI ended successfully.
ErrorID	Integer
ErrorID	Error location 2800 : The error occurred in the PLC program. 2801 : The error occurred in the robot controller.
ErrorIDEx	DInt
ErrorIDEx	Error Code This is a number to identify the error description. For details, refer to "Error code list".

Function Description

This command is available only for the compliance function with the force sensor. For the compliance function without the force sensor, the force control number cannot be changed.

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 : 7392

<< Prev Next >>