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ID : 7431

MC_ReadActualCPMode

To return CP interpolation mode setting.

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".
CPModeNo Integer
CP Interpolation mode
To return CP interpolation mode setting.
0 : Trajectory generation with putting priority on posture components.
1 : Trajectory generation with putting priority on position components.
2 : Constant speed

Function Description

-

Attention

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ID : 7431

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