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ID : 3220

MC_ReadSrvData

To return the servo internal data of the all axis.

Graphic expression FB No. FB category
FB2142 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.
DataNo Integer 1, 2, 4, 5, 7, 8, 17, 18, 19, 20 1 No
Data number
Specify a data number to designate.
For details, refer to Function description.

(*) : 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".
SrvData eRC_Joint
Servo internal data

Function description

Data number Data type Unit
1 Current motor speed value rpm
2 Motor angle deviation mm or deg
4 Absolute motor current value Rated ratio %
5 Motor torque command position (excluding dead weight compensation) Rated ratio %
7 Load factor %
8 Each axial position and angle command position mm or deg
17 Tool tip speed (work coordinates and position 3 component only) mm/s
18 Tool tip deviation (work coordinates and position 3 component only) mm
19 Tool tip speed (tool coordinates and position 3 component only) mm/s
20 Tool tip deviation (tool coordinates and position 3 component only) mm

Attention

-

ID : 3220

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