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ID : 7679

MC_EncReset

To reset encoder.

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 encoder reset
TRUE: Reset the encoder
FALSE : Do not reset the encoder
J2 Boolean
  • TRUE : Enable
  • FALSE : Disable
 FALSE No
2nd-axis encoder reset
TRUE: Reset the encoder
FALSE : Do not reset the encoder
J3 Boolean
  • TRUE : Enable
  • FALSE : Disable
 FALSE No
3rd-axis encoder reset
TRUE: Reset the encoder
FALSE : Do not reset the encoder
J4 Boolean
  • TRUE : Enable
  • FALSE : Disable
 FALSE No
4th-axis encoder reset
TRUE: Reset the encoder
FALSE : Do not reset the encoder
J5 Boolean
  • TRUE : Enable
  • FALSE : Disable
 FALSE No
5th-axis encoder reset
TRUE: Reset the encoder
FALSE : Do not reset the encoder
J6 Boolean
  • TRUE : Enable
  • FALSE : Disable
 FALSE No
6th-axis encoder reset
TRUE: Reset the encoder
FALSE : Do not reset the encoder
J7 Boolean
  • TRUE : Enable
  • FALSE : Disable
 FALSE No
7th-axis encoder reset
TRUE: Reset the encoder
FALSE : Do not reset the encoder
J8 Boolean
  • TRUE : Enable
  • FALSE : Disable
 FALSE No
8th-axis encoder reset
TRUE: Reset the encoder
FALSE : Do not reset the encoder

(*) : 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 Resetting the Encoder
If [8540467* *-axis:Encoder System Down] is displayed due to running out of encoder backup battery or other reasons, or [8540468* *-axis:Encoder over speed error] is displayed due to excessive impact at that time of the controller power off, the encoder must be reset and CALSET work must be done.

Attention

CALSET must be performed after the encoder reset.
After MC_EncReset execution, be sure to execute FB "MC_RobotCalSet".

ID : 7679

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