MC_WriteAreaData
To change the detection area setting value.
| Graphic expression |
FB No. |
FB category |
 |
FB2100 |
Non 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.
|
| AreaNo |
Integer |
0 to 31 |
0 |
Yes |
- Area number
- Specify an area number.
|
| AreaCenter |
eRC_Coordinate |
Yes |
- Center
- Specify the position and rotation (inclination) of the center point of a detection area. Specify by Position Type data.
|
| AreaRange |
eRC_Vector |
Yes |
- Size
- Specify the size of an area.
|
| DetectionOutSet |
Boolean |
- True : Enable
- False : Disable
|
False |
Yes |
- Area detection output setting
- True : Output area detection
False : Do not output area detection
|
| StorePosVarNo |
Integer |
0 or larger |
-1 |
Yes |
- Storage variable number
- Specify an index number to store the detection position. Enter "-1" when no detection position is stored.
|
| ErrorDetectionSet |
Integer |
0 to 5 |
0 |
Yes |
- Error detection setting
- Specify a detection method and error output.
[0 : No error output while the robot is inside the area of interference.]
[1 : Error output while the robot is inside the area of interference.
(Cannot power on motor while interfering)]
[2 : Error output while the robot is inside the area of interference.
(Can power on motor while robot interferes in the manual mode)]
[3 : No error output while the robot is outside the area of interference.]
[4 : Error output while the robot is outside the area of interference.
(Cannot power on motor while interfering)]
[5 :
Error output while the robot is outside the area of interference.
(Can power on motor while robot interferes in the manual mode)]
|
(*) : 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
If you the change work coordinates during area interference (area check) function enabled state, depending on the system, it will take up to 10ms before the new work coordinate is reflected into the interference check area judgment.
To use the new work coordinate for the area interference check without fail, before you change the work coordinate, set the robot so that the area interference does not occur (such as stop the robot motion), wait until the new work coordinate is applied to the system, and restart the robot.
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