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ID : 3210

MC_ReadForceData

Obtain the force control data.

Graphic expression FB No. FB category
FB2131 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.
ForceDataNo Integer 0 to 15 1 No
Data number
Specify a data number that you intend to obtain.
For details, refer to Function description.
Mode Integer -1, 0 0 No
Mode
If "0" is specified, acquire data.
If "-1" is specified, acquire the data and then reset the buffer data.

(*) : 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".
ForceData1 eRC_Vector
A data that you intend to obtain
ForceData2 eRC_Vector
A data that you intend to obtain

Function description

ForceDataNo ForceData1 ForceData2
0 The sensor value [N] on the control coordinate system The sensor value [Nm] on the control coordinate system
1 The sensor output value [pulse/N] The sensor output value [pulse/Nm]
2 The positive peak of the force [N] on the force control coordinate system The positive peak of the moment [Nm] on the force control coordinate system
3 The negative peak of the force [N] on the force control coordinate system The negative peak of the moment [Nm] on the force control coordinate system
4 The travel distance (command value)[mm] of the tool end from the start of the force control on the force control coordinate system The travel distance (command value)[deg] of the tool end from the start of the force control on the force control coordinate system
5 The positive peak (command value)[mm] of the tool end's travel distance from the start of the force control on the force control coordinate system The positive peak (command value)[deg] of the tool end's travel distance from the start of the force control on the force control coordinate system
6 The negative peaks (command value)[mm] of the tool end's travel distance from the start of the force control on the force control coordinate system The negative peaks (command value)[deg] of the tool end's travel distance from the start of the force control on the force control coordinate system
7 The travel distance (current value)[mm] of the tool end from the start of the force control on the force control coordinate system The travel distance (current value)[deg] of the tool end from the start of the force control on the force control coordinate system
8 The positive peak (current value)[mm] of the tool end's travel distance from the start of the force control on the force control coordinate system The positive peak (current value)[deg] of the tool end's travel distance from the start of the force control on the force control coordinate system
9 The negative peaks (current value)[mm] of the tool end's travel distance from the start of the force control on the force control coordinate system The negative peaks (current value)[deg] of the tool end's travel distance from the start of the force control on the force control coordinate system
10 The deviation [mm] between the command value and the force control command value from the start of the force control on the force control coordinate system The deviation [deg] between the command value and the force control command value from the start of the force control on the force control coordinate system
11 The positive peak of the deviation [mm] between the command value and the force control command value from the start of the force control on the force control coordinate system The positive peak of the deviation [deg] between the command value and the force control command value from the start of the force control on the force control coordinate system
12 The negative peak of the deviation [mm] between the command value and the force control command value from the start of the force control on the force control coordinate system The negative peak of the deviation [deg] between the command value and the force control command value from the start of the force control on the force control coordinate system
13 The force [N] of the sensor value The moment [Nm] of the sensor value
14 The positive peaks of the force [N] of the sensor value The positive peaks of the moment [Nm] of the sensor value
15 The negative peaks of the force [N] of the sensor value The negative peaks of the moment [Nm] of the sensor value

Attention

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ID : 3210

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