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ID : 3149

MC_SetSpeedMode

To set the optimal speed setting function.

Graphic expression FB No. FB category
FB2017 Motion

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.
Execute Boolean
  • True : Start
  • False : -
 False No
Execution start
When the parameter is changed from False to True, this FB is executed.
ModeNo Integer 0 to 3 0 Yes
Mode number
Specify a mode number of the optimal speed control function.
For details, refer to Function description.

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

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

Output parameter

Parameter name Data type / Description
Done Boolean
Execution completion confirmation
True : This FB execution is completed.
False : This FB execution is not completed.
Busy Boolean
Processing status of this FB
True : Being executed.
False : Not being executed.
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

This function sets proper speed and acceleration according to the mass of payload and the posture of the robot. Four control sets of motion optimization are available for selection as listed in the table below.

Mode number

Description
PTP motion CP motion
0 Set the maximum speed and maximum acceleration of PTP motion according to the robot load condition value. Set the maximum speed and maximum acceleration of CP motion according to the robot load condition value.
1 Set the maximum speed and maximum acceleration for the axes in PTP motion according to the load condition value of the robot and the robot posture in motion. Same as control set 0
2 Same as control set 0 Set the maximum speed and maximum acceleration for the axes in CP motion according to the load condition value of the robot and the robot posture in motion.
3 Same as control set 1 Same as control set 2

When mode 1, 3 are specified on XR/ SC robots or MC8, mode 0, 2 will be set respectively.

Attention

To execute this FB, FB with the FB category "Motion" needs to be made executable.
To make FB with the FB category "Motion" executable, use the FB "MC_Power".

ID : 3149

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