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ID : 3272
Status/Value Obtainment
| FB name | Functions |
|---|---|
| MC_Initialize | To obtain the Command-Slave version of the PLC and the robot controller and check if they are the same. |
| MC_ReadActualPosition | To return the current position of robot. |
| MC_ReadCurTrn | To return the current position of the robot by homogeneous translation type data. |
| MC_ReadRobotParameter | To return general conditions of robot use from robot controller. |
| MC_ReadSrvData | To return the servo internal data of the all axis. |
| MC_ReadSrvJntData | To return the servo internal data of the designated axis. |
| MC_ReadSysState | To return the controller status. |
| MC_TeachPosition | To specify the array number on the data block to store the current position. |
ID : 3272