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ID : 7419

MC_ReadSrvJntData

To return the servo internal data of the designated axis.

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.

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.
AxisNo Integer 1 to 8
Axis number
Specify an axis number.
DataNo Integer 1,2,4,5,8
Data number
Specify a data number to designate.
For details, refer to Function description.

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".
SrvJntData Real
Servo internal data

Function Description

Data number Data type Unit
1 Current motor speed value rpm
2 Motor angle deviation mm or deg
4 Absolute motor current value Rated ratio %
5 Motor torque command position (excluding dead weight compensation) Rated ratio %
8 Each axial position and angle command position mm or deg

Attention

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ID : 7419

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