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ID : 7607

MC_ReadSrvData

To return the servo internal data of the all axis.

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.
DataNo Integer 1, 2, 4, 5, 7, 8, 17, 18, 19, 20 1 No
Data number
Specify a data number to designate.
For details, refer to Function description.

(*) : 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".
SrvData eRC_Joint
Servo internal data

Function Description

Data number Data type Unit
1 Current motor speed value rpm
2 Motor angle deviation mm or deg
4 Absolute motor current value Rated ratio %
5 Motor torque command position (excluding dead weight compensation) Rated ratio %
7 Load factor %
8 Each axial position and angle command position mm or deg
17 Tool tip speed (work coordinates and position 3 component only) mm/s
18 Tool tip deviation (work coordinates and position 3 component only) mm
19 Tool tip speed (tool coordinates and position 3 component only) mm/s
20 Tool tip deviation (tool coordinates and position 3 component only) mm

Attention

-

ID : 7607

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