MC_SetSingularAvoid
To enable or disable singularity avoidance function.
| Graphic expression |
FB No. |
FB category |
 |
FB2038 |
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 |
|
False |
No |
- Execution start
- When the parameter is changed from False to True, this FB is executed.
|
| ModeNo |
Integer |
0, 2 |
0 |
Yes |
- Mode
- Specify a mode number of singularity avoidance function.
[0: Disable]
[2: Enable]
|
(*) : 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
Once singularity avoidance function is enabled, when the 5th-axis is passing near 0 degree while CP such as straight line, arc and free curve is running, it can control the behavior of the 4th-axis' great spinning.
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".
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