<< Prev        Next >>

ID : 7468

MC_WritePLCErr

To send a PLC error to the robot controller.

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

パラメータ名 Data type Valid range
Execute Boolean
  • TRUE : Start
  • FALSE : -
Execution start
When the variable is changed from FALSE to TRUE, this AOI is executed.
PLCErrorIDEx DInt -
PLC error

Output Variable

パラメータ名 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".

Function Description

This add-on instruction sends an error occurred in PLC to the robot controller.
Use this add-on instruction to stop the robot when an error occures in PLC.

Attention

-

ID : 7468

<< Prev        Next >>