MC_ReadSrvJntData
To return the servo internal data of the designated axis.
| Graphic expression |
FB No. |
FB category |
 |
FB2143 |
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 |
|
False |
No |
- Execution start
- When the parameter is changed from False to True, this FB is executed.
|
| AxisNo |
Integer |
1 to 8 |
1 |
No |
- Axis number
- Specify an axis number.
|
| DataNo |
Integer |
1, 2, 4, 5, 8 |
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".
|
| SrvJntData |
Real |
- 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 % |
| 8 |
Each axial position and angle command position |
mm or deg |
Attention
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