MC_AddPathPoint
To add a path point to the path data.
| 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 |
|
FALSE |
No |
- Execution start
- When the variable is changed from FALSE to TRUE, this FB is executed.
|
| RouteNo |
Integer |
1 to 20 |
1 |
No |
- Path number
- Specify a path number.
|
| Position |
eRC_Position |
No |
- Position data
- Specify the position with a cartesian coordinate system (Position type). The units are as follows:
- X, Y, Z : "mm"
RX, RY, RZ : "Deg"
FIG : "-"
Even if the target value is set to an axis that does not exist in the controlled robot, the robot controller ignores the value.
For example, if a value is set to the variable "RX" when a four-axis robot is controlled, the robot controller controls the robot without using the value (variable "RX").
|
(*) : 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
Add a path point to the path data.
If there are already some path points in the path data with the designated path number, it will be added following the data.
Attention
-
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