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ID : 7606

MC_TeachPosition

To specify the array number on the data block to store the current position.

Graphic expression FB category
Unique

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".
TeachPosition eRC_PosDensoRobot
Teaching position
Specify a variable to store the current position. It consists of three structure type data. ("eRC_Position", "eRC_Joint", "eRC_CoordSys")

Function Description

-

Attention

-

ID : 7606

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