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ID : 7415

MC_Initialize

To obtain the Command-Slave version of the PLC and the robot controller and check if they are the same.

Graphic expression AOI category
Unique

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

-

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.
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".
RC_Major Integer
Command-Slave version of the robot controller (Major)
RC_Minor Integer
Command-Slave version of the robot controller (Minor)
RC_Revision Integer
Command-Slave version of the robot controller (Revision)
PLC_Major Integer
Command-Slave version of the PLC (Major)
PLC_Minor Integer
Command-Slave version of the PLC (Minor)
PLC_Revision Integer
Command-Slave version of the PLC (Revision)

Function Description

-

Attention

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ID : 7415

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