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ID : 7413

MC_ReadCurTrn

To return the current position of the robot by homogeneous translation type 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.
CurTrn eRC_Trans For output
The current position of the robot

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.

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 Homogeneous Translation Type
Data type expressing robot's teaching position. This data type is expressed by three-dimensional space coordinates, a rotation angle and FIG elements representing robot figures. A rotation angle is expressed by each coordinate element of the orient vector and the approach vector. The number of elements is 10.
X, Y, Z
Coordinates of X, Y and Z axes from the work coordinate origin.
Ox, Oy, Oz
X-, Y-, and Z-axis elements of the orient vector.
Ax, Ay, Az
X-, Y-, and Z-axis elements of the approach vector.
Fig
FIG component representing the Robot Figure (6th-Axis, 4th-Axis).

Attention

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ID : 7413

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