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ID : 7553

MC_SetSpeedMode

To set the optimal speed setting function.

Graphic expression FB category
Motion

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 (*)
Execute Boolean
  • TRUE : Start
  • FALSE : -
 FALSE No
Execution start
When the variable is changed from FALSE to TRUE, this FB is executed.
ModeNo Integer 0 to 3 0 Yes
Mode number
Specify a mode number of the optimal speed control function.
For details, refer to Function description.

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

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

Output Variable

Variable name Data type / Description
Done Boolean
Execution completion confirmation
TRUE : This FB execution is completed.
FALSE : This FB execution is not completed.
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

This function sets proper speed and acceleration according to the mass of payload and the posture of the robot. Four control sets of motion optimization are available for selection as listed in the table below.

Mode number

Description
PTP motion CP motion
0 Set the maximum speed and maximum acceleration of PTP motion according to the robot load condition value. Set the maximum speed and maximum acceleration of CP motion according to the robot load condition value.
1 Set the maximum speed and maximum acceleration for the axes in PTP motion according to the load condition value of the robot and the robot posture in motion. Same as control set 0
2 Same as control set 0 Set the maximum speed and maximum acceleration for the axes in PTP motion according to the load condition value of the robot and the robot posture in motion.
3 Same as control set 1 Same as control set 2

When mode 1, 3 are specified on XR/ SC robots or MC8, mode 0, 2 will be set respectively.

Attention

To execute this FB, FB with the FB category "Motion" needs to be made executable.
To make FB with the FB category "Motion" executable, use the FB "MC_Power".

ID : 7553

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