ID : 7427

MC_SetSingularAvoid

To enable or disable singularity avoidance function.

Graphic expression	AOI category
	Motion

Input and Output Variable

Variable name	Data type	Valid range	Conditions for Input and Output
AxesGroup	eRC_AxesGroup		-
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 : -
Execute	Execution start When the variable is changed from FALSE to TRUE, this AOI is executed.
ModeNo	Integer	0,2
ModeNo	Mode Specify a mode number of singularity avoidance function. [0: Disable] [2: Enable]

Output Variable

Variable name	Data type / Description
Done	Boolean
Done	Execution completion confirmation TRUE : This AOI execution is completed. FALSE : This AOI execution is not completed.
Busy	Boolean
Busy	Processing status of this AOI TRUE : Being executed. FALSE : Not being executed.
Error	Boolean
Error	Error presence TRUE : This AOI ended abnormally. FALSE : This AOI ended successfully.
ErrorID	Integer
ErrorID	Error location 2800 : The error occurred in the PLC program. 2801 : The error occurred in the robot controller.
ErrorIDEx	DInt
ErrorIDEx	Error Code This is a number to identify the error description. For details, refer to "Error code list".

Function Description

Once singularity avoidance function is enabled, when the 5th-axis is passing near 0 degree while CP such as straight line, arc and free curve is running, it can control the behavior of the 4th-axis' great spinning.

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".

ID : 7427

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