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ID : 7678

MC_RobotCalSet

To perform CALSET of robot.

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.
J1 Boolean
  • TRUE : Enable
  • FALSE : Disable
FALSE No
1st-axis CALSET
TRUE : Execute CALSET
FALSE : Do not execute CALSET
J2 Boolean
  • TRUE : Enable
  • FALSE : Disable
FALSE No
2nd-axis CALSET
TRUE : Execute CALSET
FALSE : Do not execute CALSET
J3 Boolean
  • TRUE : Enable
  • FALSE : Disable
FALSE No
3rd-axis CALSET
TRUE : Execute CALSET
FALSE : Do not execute CALSET
J4 Boolean
  • TRUE : Enable
  • FALSE : Disable
FALSE No
4th-axis CALSET
TRUE : Execute CALSET
FALSE : Do not execute CALSET
J5 Boolean
  • TRUE : Enable
  • FALSE : Disable
FALSE No
5th-axis CALSET
TRUE : Execute CALSET
FALSE : Do not execute CALSET
J6 Boolean
  • TRUE : Enable
  • FALSE : Disable
FALSE No
6th-axis CALSET
TRUE : Execute CALSET
FALSE : Do not execute CALSET
J7 Boolean
  • TRUE : Enable
  • FALSE : Disable
FALSE No
7th-axis CALSET
TRUE : Execute CALSET
FALSE : Do not execute CALSET
J8 Boolean
  • TRUE : Enable
  • FALSE : Disable
FALSE No
8th-axis CALSET
TRUE: Execute CALSET
FALSE : Do not execute CALSET

(*) : 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".

Function Description

About CALSET
Calibrating the relationship between position information recognized by the robot controller and the actual position of the robot arm is called CALSET.
CALSET uses a previously determined axis position where an axis can be secured. It creates calibration data (CALSET data) that matches the actual axis position (CALSET position) with the encoder value. The angle of the CALSET position is saved in the robot controller as a RANG value.
The CALSET data is different on each robot.
CALSET must be performed when any of the motors is replaced or the encoder backup battery goes dead and the position-related data retained in the encoder is lost.

Attention

When an error occurs due to run-down encoder backup batteries, or due to a great impact to the robot during turning-off the controller, you need to reset encoders and perform CALSET.
Before executing this function block, be sure to execute FB "MC_EncReset".

ID : 7678

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