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ID : 7602

MC_ReadCurTrn

To return the current position of the robot by homogeneous translation type 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
  • TRUE : Start
  • FALSE : -
 FALSE No
Execution start
When the variable is changed from FALSE to TRUE, this FB is executed.

(*) : 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".
CurTrn eRC_Trans
The current position of the robot

Function Description

About Homogeneous Translation Type

Data type expressing robot's teaching position. This data type is expressed by three-dimensional space coordinates, a rotation angle and FIG elements representing robot figures. A rotation angle is expressed by each coordinate element of the orient vector and the approach vector. The number of elements is 10.

X, Y, Z
Coordinates of X, Y and Z axes from the work coordinate origin.
Ox, Oy, Oz
X-, Y-, and Z-axis elements of the orient vector.
Ax, Ay, Az
X-, Y-, and Z-axis elements of the approach vector.
FIG
FIG component representing the Robot Figure (6th-Axis, 4th-Axis).

Attention

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ID : 7602

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