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ID : 7404

MC_AddPathPoint

To add a path point to the path data.

Graphic expression AOI category
Non 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.
Position eRC_Position For input
Position data
Specify the position with a cartesian coordinate system (Position type). The units are as follows:
X, Y, Z : "mm"
RX, RY, RZ : "Deg"
FIG : "-"

Even if the target value is set to an axis that does not exist in the controlled robot, the robot controller ignores the value. For example, if a value is set to the variable "RX" when a four-axis robot is controlled, the robot controller controls the robot without using the value (variable "RX").

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.
RouteNo Integer 1 to 20
Path number
Specify a path number.

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

Add a path point to the path data.

If there are already some path points in the path data with the designated path number, it will be added following the data.

Attention

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ID : 7404

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