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ID : 7407

MC_Arrive

To let the task stand-by until the motion complete rate specified by the currently-active motion instruction is reached.

Graphic expression AOI category
Motion

Input and Output Variable

Variable name Data type Valid range Conditions for Input and Output
AxesGroup eRC_AxesGroup -
Robot group
Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Input Variable

Variable name Data type Valid range
Execute Boolean
  • TRUE : Start
  • FALSE : -
Execution start
When the variable is changed from FALSE to TRUE, this AOI is executed.
MotionRatio Real 0 < motion rate ≤ 100
Motion rate
Specify the motion rate and the percentage of the motion distance within the range of 0 < motion rate ≤ 100. The unit is "%".

Output Variable

Variable name Data type / Description
Done Boolean
Execution completion confirmation
TRUE : This AOI execution is completed.
FALSE : This AOI execution is not completed.
Busy Boolean
Processing status of this AOI
TRUE : Being executed.
FALSE : Not being executed.
CommandAborted Boolean
Robot control aborted
This variable indicates whether or not this AOI was aborted while the robot was being controlled.
TRUE : Aborted.
FALSE : Not aborted.
Error Boolean
Error presence
TRUE: This AOI ended abnormally.
FALSE : This AOI ended successfully.
ErrorID Integer
Error location
2800 : The error occurred in the PLC program.
2801 : The error occurred in the robot controller.
ErrorIDEx DInt
Error Code
This is a number to identify the error description.
For details, refer to "Error code list".

Function Description

When an Arrive instruction is executed during execution of motion instruction of own task, the program is suspended until the current position (encoder value) achieves the designated motion ratio.

Attention

To execute this AOI, AOI with the AOI category "Motion" needs to be made executable.
To make AOI with the AOI category "Motion" executable, use the AOI "MC_Power".

ID : 7407

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