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ID : 7562

MC_WriteAreaData

To change the detection area setting value.

Graphic expression FB category
Non motion

Input and Output Variable

Variable name Data type Valid range Default Omission (*)
AxesGroup eRC_AxesGroup No
Robot Group
Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Input Variable

Variable name Data type Valid range Default Omission (*)
Execute Boolean
  • TRUE : Start
  • FALSE : -
FALSE No
Execution start
When the variable is changed from FALSE to TRUE, this FB is executed.
AreaNo Integer 0 to 31 0 Yes
Area number
Specify an area number.
AreaCenter eRC_Coordinate 0.0 Yes
Center
Specify the position and rotation (inclination) of the center point of a detection area. Specify by Position Type data.
AreaRange eRC_Vector 0.0 Yes
Size
Specify the size of an area.
DetectionOutSet Boolean
  • TRUE : Enable
  • FALSE : Disable
FALSE Yes
Area detection output setting
TRUE : Output area detection
FALSE : Do not output area detection
StorePosVarNo Integer 0 or larger -1 Yes
Storage variable number
Specify an index number to store the detection position. Enter "-1" when no detection position is stored.
ErrorDetectionSet Integer 0 to 5 0 Yes
Error detection setting
Specify a detection method and error output.
[0 : No error output while the robot is inside the area of interference.]
[1 : Error output while the robot is inside the area of interference.
(Cannot power on motor while interfering)]
[2 : Error output while the robot is inside the area of interference.
(Can power on motor while robot interferes in the manual mode)]
[3 : No error output while the robot is outside the area of interference.]
[4 : Error output while the robot is outside the area of interference.
(Cannot power on motor while interfering)]
[5 : Error output while the robot is outside the area of interference.
(Can power on motor while robot interferes in the manual mode)]

(*) : For some Variable, entries can be omitted.

  • Yes : Entry can be omitted.
  • No : Entry required always.

Output Variable

Variable name Data type / Description
Done Boolean
Execution completion confirmation
TRUE : This FB execution is completed.
FALSE : This FB execution is not completed.
Busy Boolean
Processing status of this FB
TRUE : Being executed.
FALSE : Not being executed.
Error Boolean
Error presence
TRUE : This FB ended abnormally.
FALSE : This FB ended successfully.
ErrorID Word
Error location
2800 (hexadecimal) : The error occurred in the PLC program.
2801 (hexadecimal) : The error occurred in the robot controller.
ErrorIDEx DWord
Error Code
This is a number to identify the error description.
For details, refer to "Error code list".

Function Description

-

Attention

If you the change work coordinates during area interference (area check) function enabled state, depending on the system, it will take up to 10ms before the new work coordinate is reflected into the interference check area judgment.
To use the new work coordinate for the area interference check without fail, before you change the work coordinate, set the robot so that the area interference does not occur (such as stop the robot motion), wait until the new work coordinate is applied to the system, and restart the robot.

ID : 7562

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