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ID : 7439

MC_CallSubRoutine

To call a robot program.

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.

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.
ProgramNo Integer 0 or larger
PAC program number
Specify a program number stored in the robot controller.
Task Integer 0,1
Task
Specify the type of task.
[0 : Normal task]
[1 : Supervisory task]

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.
Active Boolean
Robot control in progress
This variable indicates whether or not this AOI is controlling the robot.
TRUE : Controlling.
FALSE : Not controlling.
CommandAborted Boolean
Robot control aborted
This variable indicates whether or not this AOI was aborted while the robot was being controlled.
TRUE : Aborted.
FALSE : Not aborted.
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 supervisory task
A supervisory task refers to a task executable regardless of operating modes of the robot controller.

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 : 7439

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