ID : 7678

MC_RobotCalSet

To perform CALSET of robot.

Graphic expression	FB category
	Non 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.
J1	Boolean	TRUE : Enable FALSE : Disable	FALSE	No
J1	1st-axis CALSET TRUE : Execute CALSET FALSE : Do not execute CALSET
J2	Boolean	TRUE : Enable FALSE : Disable	FALSE	No
J2	2nd-axis CALSET TRUE : Execute CALSET FALSE : Do not execute CALSET
J3	Boolean	TRUE : Enable FALSE : Disable	FALSE	No
J3	3rd-axis CALSET TRUE : Execute CALSET FALSE : Do not execute CALSET
J4	Boolean	TRUE : Enable FALSE : Disable	FALSE	No
J4	4th-axis CALSET TRUE : Execute CALSET FALSE : Do not execute CALSET
J5	Boolean	TRUE : Enable FALSE : Disable	FALSE	No
J5	5th-axis CALSET TRUE : Execute CALSET FALSE : Do not execute CALSET
J6	Boolean	TRUE : Enable FALSE : Disable	FALSE	No
J6	6th-axis CALSET TRUE : Execute CALSET FALSE : Do not execute CALSET
J7	Boolean	TRUE : Enable FALSE : Disable	FALSE	No
J7	7th-axis CALSET TRUE : Execute CALSET FALSE : Do not execute CALSET
J8	Boolean	TRUE : Enable FALSE : Disable	FALSE	No
J8	8th-axis CALSET TRUE: Execute CALSET FALSE : Do not execute CALSET

(*) : 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

About CALSET: Calibrating the relationship between position information recognized by the robot controller and the actual position of the robot arm is called CALSET.; CALSET uses a previously determined axis position where an axis can be secured. It creates calibration data (CALSET data) that matches the actual axis position (CALSET position) with the encoder value. The angle of the CALSET position is saved in the robot controller as a RANG value.; The CALSET data is different on each robot.; CALSET must be performed when any of the motors is replaced or the encoder backup battery goes dead and the position-related data retained in the encoder is lost.

Attention

When an error occurs due to run-down encoder backup batteries, or due to a great impact to the robot during turning-off the controller, you need to reset encoders and perform CALSET.
Before executing this function block, be sure to execute FB "MC_EncReset".

ID : 7678

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