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ID : 3185

MC_ReadSysState

To return the controller status.

Graphic expression FB No. FB category
FB2106 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".
SysState DWord
The controller status

Function description

The following is the correspondence table between an obtained bit and the robot controller's state.

Bit Status
0 Robot in operation (program running)
1 Robot error
2 Servo On
3 Robot initialization complete (in I/O standard or MiniIO dedicated mode) / Robot power On complete (in I/O compatible mode)
4 Automatic mode
5 When an executable token is not set to the Teach Pendant in Auto Mode
6 Battery exhaustion warning
7 Robot warning
10 Emergency stop status
11 Automatic robot run enabled
12 Protective Stop
18 Manual mode or Teach check mode
20 Robot is running (command level)
21 Robot is running (encoder level)

Attention

-

ID : 3185

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