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ID : 7428

MC_WriteLoadConditions

To change the setting value of internal load conditions.

Graphic expression AOI category
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.
LoadData eRC_LoadConditions For input
Mass of payload
Specify the mass of payload. Unit is gram.
Payload center of gravity
Specify payload center of gravity. Unit is millimeter.
Payload center of gravity inertia
Specify payload center of gravity inertia. Unit is "kgcm²".

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

-

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 : 7428

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