ID : 2989

MC_Initialize

To obtain the Command-Slave version of the PLC and the robot controller and check if they are the same.

Graphic expression	FB No.	FB category
	FB2304	Unique

Input parameter

Parameter name	Data type	Valid range	Default	Omission (*)
AxesGroup	Integer	1 or larger	1	No
AxesGroup	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.

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

Parameter name	Data type / Description
Done	Boolean
Done	Execution completion confirmation True : This FB execution is completed. False : This FB execution is not completed.
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".
RC_Major	Integer
RC_Major	Command-Slave version of the robot controller (Major)
RC_Minor	Integer
RC_Minor	Command-Slave version of the robot controller (Minor)
RC_Revision	Integer
RC_Revision	Command-Slave version of the robot controller (Revision)
PLC_Major	Integer
PLC_Major	Command-Slave version of the PLC (Major)
PLC_Minor	Integer
PLC_Minor	Command-Slave version of the PLC (Minor)
PLC_Revision	Integer
PLC_Revision	Command-Slave version of the PLC (Revision)

ID : 2989