ID : 2990

MC_Power

To make FB with the FB category "Motion" executable and turn on the robot motor.

Graphic expression	FB No.	FB category
	FB2300	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.
Enable	Boolean	True : Enable False : -	False	No
Enable	Execution-available state Changing this signal from FALSE to TRUE makes the AOI category "Motion" executable. True : Makes it executable and turns on the robot motor. False : Makes it non-executable and turns off the robot motor.

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

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

Output parameter

Parameter name	Data type / Description
Status	Boolean
Status	Whether or not FB with the FB category "Motion" is executable True : It is executable, and the robot motor is turned on. False : It is not executable, and the robot motor is turned off.
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

FB with the FB category "Motion" needs to be made executable by this FB before execution.
While FB with the FB category "Motion" is being executed, the input parameter "Enable" in this FB needs to be set to True.

Attention

When an error occurs in the robot controller, FB with the FB category "Motion" may be made non-executable (The output parameter "Status" in this FB becomes False).
Then, if the FB with the FB category "Motion" needs to be executed, use the following procedure to make the FB with the FB category "Motion" executable beforehand.

Reset the error.
Set the input parameter "Enable" in this FB to False.
Set the input parameter "Enable" in this FB to True.

ID : 2990

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