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ID : 7531

MC_Power

To make FB with the FB category "Motion" executable and turn on the robot motor.

Graphic expression FB category
Unique

Input and Output Variable

Variable name Data type Valid range Default Omission (*)
AxesGroup eRC_AxesGroup No
Robot Group
Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Input Variable

Variable name Data type Valid range Default Omission (*)
Enable Boolean
  • TRUE : Enable
  • FALSE : -
 FALSE No
Execution-available state
Changing this signal from FALSE to TRUE makes the FB category "Motion" executable.
TRUE : Makes it executable and turns on the robot motor.
FALSE : Makes it non-executable and turns off the robot motor.

(*) : For some Variable, entries can be omitted.

  • Yes : Entry can be omitted.
  • No : Entry required always.

Output Variable

Variable name Data type / Description
Status Boolean
Whether or not FB with the FB category "Motion" is executable
TRUE : It is executable, and the robot motor is turned on.
FALSE : It is not executable, and the robot motor is turned off.
Busy Boolean
Processing status of this FB
TRUE : Being executed.
FALSE : Not being executed.
Error Boolean
Error presence
TRUE : This FB ended abnormally.
FALSE : This FB ended successfully.
ErrorID Word
Error location
2800 (hexadecimal) : The error occurred in the PLC program.
2801 (hexadecimal) : The error occurred in the robot controller.
ErrorIDEx DWord
Error Code
This is a number to identify the error description.
For details, refer to "Error code list".

Function Description

FB with the FB category "Motion" needs to be made executable by this FB before execution.
While FB with the FB category "Motion" is being executed, the input variable "Enable" in this FB needs to be set to TRUE.

Attention

When an error occurs in the robot controller, FB with the FB category "Motion" may be made non-executable (The output Variable "Status" in this FB becomes FALSE).
Then, if the FB with the FB category "Motion" needs to be executed, use the following procedure to make the FB with the FB category "Motion" executable beforehand.

  1. Reset the error.
  2. Set the input variable "Enable" in this FB to FALSE.
  3. Set the input variable "Enable" in this FB to TRUE.

ID : 7531

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