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ID : 7596

MC_Arrive

To let the task stand-by until the motion complete rate specified by the currently-active motion instruction is reached.

Graphic expression FB category
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.
MotionRatio Real 0 < motion rate ≤ 100

0.0

 Yes
Motion rate
Specify the motion rate and the percentage of the motion distance within the range of 0 < motion rate ≤100. The unit is "%."

(*) : 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.
CommandAborted Boolean
Robot control aborted
This Variable indicates whether or not this FB was aborted while the robot was being controlled.
TRUE : Aborted.
FALSE : Not aborted.
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

When an Arrive instruction is executed during execution of motion instruction of own task, the program is suspended until the current position (encoder value) achieves the designated motion ratio.

Attention

To execute this FB, FB with the FB category "Motion" needs to be made executable.
To make FB with the FB category "Motion" executable, use the FB "MC_Power".

ID : 7596

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