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ID : 7412

MC_ReadSysState

To return the controller status.

Graphic expression AOI category
Non 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.

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.
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".
SysState DInt
The controller status

Function Description

The following is the correspondence table between an obtained bit and the robot controller's state.

Bit Status
0 Robot in operation (program running)
1 Robot error
2 Servo On
3 Robot initialization complete (in I/O standard or MiniIO dedicated mode) / Robot power On complete (in I/O compatible mode)
4 Automatic mode
5 When an executable token is not set to the Teach Pendant in Auto Mode
6 Battery exhaustion warning
7 Robot warning
10 Emergency stop status
11 Automatic robot run enabled
12 Protective Stop
18 Manual mode or Teach check mode
20 Robot is running (command level)
21 Robot is running (encoder level)

Attention

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ID : 7412

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