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ID : 7567

MC_WriteAreaDataOp1

To specify the options of specified detection area, such as detection interval, detection posture.

Graphic expression FB category
Non 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.
AreaNo Integer 0 to 31 0 No
Area number
Specify an area number.
CycleDetection Integer 0 to 4 -1 Yes
Detection interval
Specify the area detection interval.
[0 : 8ms (initial value)]
[1 : 2ms]
[2 : 4ms]
[3 : 16ms]
[4 : 32ms]
DetectionPosture eRC_Vector 0.0 Yes
Detection posture
To use both position and posture as detection targets, specify the posture with angles of X, Y and Z direction. Unit is degree.
DetectionPostureRange Real 0 or larger -1.0 Yes
Posture detection allowance
Specify the allowance range of posture detection.
If "-1" is specified, posture is not used as detection target.

(*) : 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

-

Attention

If you the change work coordinates during area interference (area check) function enabled state, depending on the system, it will take up to 10ms before the new work coordinate is reflected into the interference check area judgment.
To use the new work coordinate for the area interference check without fail, before you change the work coordinate, set the robot so that the area interference does not occur (such as stop the robot motion), wait until the new work coordinate is applied to the system, and restart the robot.

ID : 7567

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