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ID : 2988

MC_WriteAxesGroup

To transmit the contents of the variable "Robots[n]" in the data block "DB_DENSO_ROBOTS (DB2990)" to the robot controller.
It also changes the external speed of the robot controller.

Graphic expression FB No. FB category
FB2302 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.
OutAddress HW_IO - - No
Hardware identifier in the robot controller output module
Specify the hardware identifier assigned to the robot controller output 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 incorrect information is transmitted to the robot controller.
Override Integer 1 to 100 1 Yes
External speed
Specify the external speed. The unit is "%".

(*) : 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 output data is set as the PROFINET IO output module, specify the hardware identifier of the output module in the input parameter "OutAddress".
For example, to configure the settings shown in the figure below, specify "265" in the input parameter "OutAddress".

Output parameter

Parameter name Data type / Description
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

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

Attention

The value of the variable "Cmd" (*1) updated in other FB of Command-Slave is transmitted to the robot controller by this FB. Unless the value of the variable "Cmd" is transmitted to the robot controller, the robot cannot be controlled.
For this reason, place this FB at the end of the program and always set the input parameter "EN" to TRUE.

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

ID : 2988

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