MC_WriteLoadConditions
To change the setting value of internal load conditions.
| Graphic expression |
FB No. |
FB category |
 |
FB2039 |
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.
|
| LoadData |
eRC_LoadConditions |
No |
- Mass of payload
- Specify the mass of payload. Unit is gram.
- Payload center of gravity
- Specify payload center of gravity. Unit is millimeter.
- Payload center of gravity inertia
- Specify payload center of gravity inertia. Unit is "kgcm²".
|
(*) : 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
-
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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