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ID : 3160

MC_SetZforce

Specify the thrust force for current limiting function of the third axis (Z axis) in H Series Robot and enable.

Graphic expression FB No. FB category
FB2028 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.
SettingValue Real 0 or larger 0 No
Thrust force
Specify the thrust force. Unit is "N".

(*) : 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

About Current Limiting Function
This function sets compliance for individual axes. Limiting the torque of motors for individual axes realizes compliance. Use this function to prevent an excessive force applied to a robot or a work, or to avoid a down due to over load or over current.

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 : 3160

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