| 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.
|
| Execute |
Boolean |
|
False |
No |
- Execution start
- When the parameter is changed from False to True, this FB is executed.
|
| Position |
eRC_Position |
Yes |
- Target position
- Specify the target position with a cartesian coordinate system (Position type). The units are as follows:
-
X,Y,Z : "mm"
RX,RY,RZ : "Deg"
FIG : "-"
J5 to J8 : Rotation axes "Deg" / Linear motion axes "mm"
Even if the target value is set to an axis that does not exist in the controlled robot, the robot controller ignores the value.
For example, if a value is set to the variable "RX" when a four-axis robot is controlled, the robot controller controls the robot without using the value (variable "RX").
|
| ApproachLen |
Real |
- |
0 |
No |
- Approach length
- Specify an approach length. Unit is millimeter.
|
| Velocity |
Real |
0.1 to 100.0 |
-1 |
Yes |
- Internal speed
- Specify the internal speed used when moving to the target position. The unit is "%".
In addition to valid range values, -1 and 0 can be used.
- -1 : The robot moves at the current internal speed.
0 : The minimum valid range value "0.1" is applied.
|
| Acceleration |
Real |
0.0001 to 100.0 |
-1 |
Yes |
- Internal acceleration
- Specify the internal acceleration used when moving to the target position. The unit is "%".
In addition to valid range values, -1 and 0 can be used.
- -1 : The robot moves at the current internal acceleration.
0 : The minimum valid range value "0.0001" is applied.
|
| Deceleration |
Real |
0.0001 to 100.0 |
-1 |
Yes |
- Internal deceleration
- Specify the internal deceleration used when moving to the target position. The unit is "%".
In addition to valid range values, -1 and 0 can be used.
- -1 : The robot moves at the current internal deceleration.
0 : The minimum valid range value "0.0001" is applied.
|
| CoordSystem |
eRC_CoordSys |
- Tool : 0 to 63
- Work : 0 to 7
|
|
Yes |
- Target position
- Specify the tool coordinate system and the work coordinate system used when making the robot motion with a coordinate number.
In addition to valid range values, -1 can be used.
When -1 is specified, the robot motions at the coordinate system currently set.
For example, if -1 is set to the variable "Tool", the robot motions at the tool coordinate system of the tool number currently set.
|
| BufferMode |
Integer |
0, 1, 6, 7, 8, 9 |
0 |
Yes |
- Buffer mode selection
- Specify how to connect motions when this FB is executed when the robot is in motion.
The process flow of each buffer mode is as follows:
[0 : Aborting OP0]
- The robot decelerates at 100% deceleration.
- The robot stops (End motion).
- This FB motion is executed.
[1 : Buffered]
- The robot moves to the current target position.
- The robot stops (Encoder value check motion (Axes coordinate system)).
- This FB motion is executed.
[6 : Blending]
- The robot moves to the vicinity of the current target position.
- The robot executes the motion end method specified in the input parameter "TransitionMode".
- This FB motion is executed.
[7 : Aborting OP1]
- The robot decelerates at 100% deceleration.
- The robot does not stop (Pass motion).
- This FB motion is executed.
[8 : Aborting OP2]
- The robot decelerates at the current deceleration.
- The robot stops (End motion).
- This FB motion is executed.
[9 : Aborting OP3]
- The robot decelerates at the current deceleration.
- The robot does not stop (Pass motion).
- This FB motion is executed.
|
| TransitionMode |
Integer |
0, 3, 10, 11 |
0 |
Yes |
- Transition mode selection
- Specify how to end the current motion when "6 : Blending" is selected in the input parameter "BufferMode".
The end method for each value is as follows:
[0 : The robot stops (Encoder value check motion (Axes coordinate system))]
[3 : The robot does not stop (Pass motion of distance designation)]
- If 3 is selected, specify a distance to start the pass motion in the input parameter "TransitionParameter".
[10 : The robot does not stop (Pass motion)]
[11 : The robot stops (Encoder value check motion (Cartesian coordinate system))]
|
| TransitionParameter |
Integer |
0 to 32767 |
-1 |
Yes |
- Target position
- Specify a distance to start the pass motion when "3 : The robot does not stop (Pass motion of distance designation)" is selected in the input parameter "TransitionMode". Unit is millimeter.
When the distance between the robot position and the current target position is below the value of this parameter ("TransitionParameter"), the pass motion starts.
|
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