MC_ForceWaitCondition
Wait until the specified conditions of the force control are satisfied.
| 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.
|
| ErAlwPosVarNo |
Integer |
0 or larger |
- Travel distance
- Sets the absolute value of travel distance of the tool end from the control start. Unit is millimeter or degree. Spscify the number of a cartesian coordinate system (Position type) settings.
|
| ForceMomentsPosVarNo |
Integer |
0 or larger |
- Force and moment
- Sets the absolute value of the force and moment converted to the force control coordinate system. Unit is "N" or "Nm".
Spscify the number of a cartesian coordinate system (Position type) settings.
|
| ElapsedTime |
Integer |
0 or larger |
- Elapsed time
- Specify the elapsed time [ms] from the control start. Unit is milliseconds.
|
| ExitMode |
Integer |
0 to 2 |
- Termination mode
- Specify the termination mode (see the table below) of the robot and force control when the condition is met.
[0 : Neither the robot motion nor force control is terminated.]
[1 : The robot immediately stops. (Halt) Force control is not terminated.]
[2 : Both the robot motion and force control are terminated.]
|
| TimeOut |
Integer |
0 or larger |
- Timeout
- Specify the timeout period. Unit is milliseconds.
|
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
This function is exclusive to the Compliance Function with Force Sensor.
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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