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ID : 3184

MC_ReadCurTrn

To return the current position of the robot by homogeneous translation type data.

Graphic expression FB No. FB category
FB2105 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
  • True : Start
  • False : -
 False No
Execution start
When the parameter is changed from False to True, this FB is executed.

(*) : 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".
CurTrn eRC_Trans
The current position of the robot

Function description

About Homogeneous Translation Type

Data type expressing robot's teaching position. This data type is expressed by three-dimensional space coordinates, a rotation angle and FIG elements representing robot figures. A rotation angle is expressed by each coordinate element of the orient vector and the approach vector. The number of elements is 10.

X, Y, Z
Coordinates of X, Y and Z axes from the work coordinate origin.
Ox, Oy, Oz
X-, Y-, and Z-axis elements of the orient vector.
Ax, Ay, Az
X-, Y-, and Z-axis elements of the approach vector.
FIG
FIG component representing the Robot Figure (6th-Axis, 4th-Axis).

Attention

-

ID : 3184

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