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ID : 7628

MC_CallSubRoutine

To call a robot program.

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.
ProgramNo Integer 0 or larger 0 Yes
PAC program number
Specify a program number stored in the robot controller.
Task Integer 0,1 0 Yes
Task
Specify the type of task.
[0 : Normal task]
[1 : Supervisory task]

(*) : 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.
Active Boolean
Robot control in progress
This Variable indicates whether or not this FB is controlling the robot.
TRUE : Controlling.
FALSE : Not controlling.
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

About supervisory task
A supervisory task refers to a task executable regardless of operating modes of the robot controller.

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 : 7628

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