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ID : 3244

MC_RobotCalSet

To perform CALSET of robot.

Graphic expression FB No. FB category
FB2166 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.
J1 Boolean
  • True : Enable
  • False : Disable
 False No
1st-axis CALSET
True : Execute CALSET 
False : Do not execute CALSET
J2 Boolean
  • True : Enable
  • False : Disable
 False No
2nd-axis CALSET
True : Execute CALSET 
False : Do not execute CALSET
J3 Boolean
  • True : Enable
  • False : Disable
 False No
3rd-axis CALSET
True : Execute CALSET 
False : Do not execute CALSET
J4 Boolean
  • True : Enable
  • False : Disable
 False No
4th-axis CALSET
True : Execute CALSET 
False : Do not execute CALSET
J5 Boolean
  • True : Enable
  • False : Disable
 False No
5th-axis CALSET
True : Execute CALSET 
False : Do not execute CALSET
J6 Boolean
  • True : Enable
  • False : Disable
 False No
6th-axis CALSET
True : Execute CALSET 
False : Do not execute CALSET
J7 Boolean
  • True : Enable
  • False : Disable
 False No
7th-axis CALSET
True : Execute CALSET 
False : Do not execute CALSET
J8 Boolean
  • True : Enable
  • False : Disable
 False No
8th-axis CALSET
True : Execute CALSET 
False : Do not execute CALSET

(*) : 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

About CALSET
Calibrating the relationship between position information recognized by the robot controller and the actual position of the robot arm is called CALSET.
CALSET uses a previously determined axis position where an axis can be secured. It creates calibration data (CALSET data) that matches the actual axis position (CALSET position) with the encoder value. The angle of the CALSET position is saved in the robot controller as a RANG value.
The CALSET data is different on each robot.
CALSET must be performed when any of the motors is replaced or the encoder backup battery goes dead and the position-related data retained in the encoder is lost.

Attention

When an error occurs due to run-down encoder backup batteries, or due to a great impact to the robot during turning-off the controller, you need to reset encoders and perform CALSET.
Before executing this function block, be sure to execute FB "MC_EncReset".

ID : 3244

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