ID : 7621

MC_WriteSoftwareLimits

To set the software limit value.

Graphic expression	FB category
	Motion

Input and Output Variable

Variable name	Data type	Valid range	Default	Omission (*)
AxesGroup	eRC_AxesGroup			No
AxesGroup	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
Execute	Execution start When the variable is changed from FALSE to TRUE, this FB is executed.
SoftLimit	eRC_SWLimits			No
SoftLimit	Software Motion Limit Specify the limit values on both the positive and negative directions of each axis.

(*) : 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
Done	Execution completion confirmation TRUE : This FB execution is completed. FALSE : This FB execution is not completed.
Busy	Boolean
Busy	Processing status of this FB TRUE : Being executed. FALSE : Not being executed.
Error	Boolean
Error	Error presence TRUE : This FB ended abnormally. FALSE : This FB ended successfully.
ErrorID	Word
ErrorID	Error location 2800 (hexadecimal) : The error occurred in the PLC program. 2801 (hexadecimal) : The error occurred in the robot controller.
ErrorIDEx	DWord
ErrorIDEx	Error Code This is a number to identify the error description. For details, refer to "Error code list".

Function Description

About Software Motion Limit: To avoid damages that could be caused by collision or contact with mechanical stoppers, configure the motion space by setting the software motion limits on individual axes.
By default, the software motion limits are configured slightly inside the mechanical ends.

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 : 7621

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