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ID : 3212

MC_WriteAreaDataOp2

To specify the options of specified detection area, such as exteded-joint.

Graphic expression FB No. FB category
FB2133 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.
AreaNo Integer 0 to 31 0 No
Area number
Specify an area number.
ExOption1 Array[0..2] of Real Real[0] 5 to 8 0 Yes
Real[1] - 0
Real[2] 0 or larger -1
Exteded-joint 1 option 1 (Axis number)
Specify the number of extended-joint. 
Exteded-joint 1 option 2 (Position)
Specify the position to detect.
Exteded-joint 1 option 3 (Error range)
Designate tolerable error range (angle). Unit is degree.
When "-1" is entered, figure is not checked.
ExOption2 Array[0..2] of Real Real[0] 5 to 8 0 Yes
Real[1] - 0
Real[2] 0 or larger -1
Exteded-joint 2 option 1 (Axis number)
Specify the number of extended-joint. 
Exteded-joint 2 option 2 (Position)
Specify the position to detect.
Exteded-joint 2 option 3 (Error range)
Designate tolerable error range (angle). Unit is degree.
When "-1" is entered, figure is not checked.
ExOption3 Array[0..2] of Real Real[0] 5 to 8 0 Yes
Real[1] - 0
Real[2] 0 or larger -1
Exteded-joint 3 option 1 (Axis number)
Specify the number of extended-joint. 
Exteded-joint 3 option 2 (Position)
Specify the position to detect.
Exteded-joint 3 option 3 (Error range)
Designate tolerable error range (angle). Unit is degree.
When "-1" is entered, figure is not checked.
ExOption4 Array[0..2] of Real Real[0] 5 to 8 0 Yes
Real[1] - 0
Real[2] 0 or larger -1
Exteded-joint 4 option 1 (Axis number)
Specify the number of extended-joint. 
Exteded-joint 4 option 2 (Position)
Specify the position to detect.
Exteded-joint 4 option 3 (Error range)
Designate tolerable error range (angle). Unit is degree.
When "-1" is entered, figure is not checked.

(*) : 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.

ID : 3212

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