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ID : 2987

MC_ReadAxesGroup

To obtain information, such as the robot motion status, from the robot controller and store it to the variable "Robots[n]" in the data block "DB_DENSO_ROBOTS (DB2990)."

Graphic expression FB No. FB category
FB2301 Unique

Input parameter

Parameter name Data type Valid range Default Omission (*)
AxesGroup Integer 1 or larger 1 No
Robot number
Specify an element number for the variable "Robots[n]" (variable in the data block "DB_DENSO_ROBOTS (DB2990)") mapped to the controlled robot (robot controller).
If a specified value exceeds the valid range, the CPU (PLC) stops.

The maximum valid range value is the maximum element number of the variable "Robots[n]". The default maximum element number is 10 but can be increased or decreased by the user.
InAddress HW_IO - - No
Hardware identifier in the robot controller input module
Specify the hardware identifier assigned to the robot controller input module.
For how to check the hardware identifier, refer to "About hardware identifier" shown below.

Even if the hardware identifier is incorrect, no error occurs. Therefore, the program can run, but the robot controller information cannot be correctly obtained.

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

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

About hardware identifier

The hardware identifier is a number automatically assigned to each device by "TIA Portal V14" when CPU (PLC) hardware configuration is performed in "TIA Portal V14".
Since robot controller input data is set as the PROFINET IO input module, specify the hardware identifier of the input module in the input parameter "InAddress".
For example, to configure the settings shown in the figure below, specify "266" in the input parameter "InAddress".

Output parameter

-

Function description

In practice, the robot controller information is stored to the variable "Status" in the variable "Robots[n]" in the data block "DB_DENSO_ROBOTS (DB2990)."

Attention

The value of the variable "Status"(*1) updated in this FB is used to control the robot by other FB of Command-Slave. If the value of the variable "Status" is old, the robot may not be controlled properly by other FB of Command-Slave.
For this reason, place this FB at the beginning of the program and always set the input parameter "EN" to TRUE.

*1: The variable "Status" is located in the variable "Robots[n]" in the data block "DB_DENSO_ROBOTS (DB2990)".

ID : 2987

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