ID : 7581

MC_ForceChangeTable

Change the force control number used when the force control is performed.

Graphic expression	FB category
	Motion

Input and Output Variable

Variable name	Data type	Valid range	Default	Omission (*)
AxesGroup	eRC_AxesGroup			No
AxesGroup	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
Execute	Execution start When the variable is changed from FALSE to TRUE, this FB is executed.
ForceCtrlNo	Integer	1 to 10	1	Yes
ForceCtrlNo	Force Control Number Select a force control number (parameter table number for compliance function) 1 to 10.

(*) : 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
Done	Execution completion confirmation TRUE : This FB execution is completed. FALSE : This FB execution is not completed.
Busy	Boolean
Busy	Processing status of this FB TRUE : Being executed. FALSE : Not being executed.
Error	Boolean
Error	Error presence TRUE : This FB ended abnormally. FALSE : This FB ended successfully.
ErrorID	Word
ErrorID	Error location 2800 (hexadecimal) : The error occurred in the PLC program. 2801 (hexadecimal) : The error occurred in the robot controller.
ErrorIDEx	DWord
ErrorIDEx	Error Code This is a number to identify the error description. For details, refer to "Error code list".

Function Description

This command is available only for the compliance function with the force sensor. For the compliance function without the force sensor, the force control number cannot be changed.

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 : 7581

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