ID : 7708

eRC_AxesGroup

"eRC_AxesGroup"data structure

Variable name				Data type	Description
Static
	Status			Struct	RC8 output
		CmdBusy		Boolean	Command being executed
		CmdDone		Boolean	Completed command execution
		CmdPermit		Boolean	Command execution permission
		MotorProcessBusy		Boolean	Motor processing in progress
		MotorProcessPermit		Boolean	Motor processing permission
		RobotEnableProcessBusy		Boolean	Robot Enable processing in progress
		RobotEnableProcessPermit		Boolean	Robot Enable Process permission
		CmdSlaveEnable		Boolean	Command slave function enabled
		RobotOnMoveCmd		Boolean	Robot operation in progress (command value)
		ServoOn		Boolean	Servo on
		RobotError		Boolean	Robot error
		RobotAlarm		Boolean	Robot warning
		RobotInitialDone		Boolean	Robot initialization complete
		AuxMode		Boolean	External mode
		RobotEnable		Boolean	Enable Robot Enable (TakeArm state)
		MachineLock		Boolean	Machine lock state
		HighPathAccuracy		Boolean	High precision control effective state
		Result		Array[1..18] of Dword	Return value
		RobotMoveSID		Dword	Robot movement change (for continuous operation timing)
		ErrorID		Dword	Error number
		AreaOut		Array[0..31] of Boolean	Area detection output
		CmdAbort		Boolean	Command execution suspended
		CmdBusy2		Boolean	Command being executed 2
		CmdDone2		Boolean	Completed command execution 2
		CmdPermit2		Boolean	Command execution permission 2
		CmdAbort2		Boolean	Command execution suspended 2
		CmdBusy3		Boolean	Command being executed 3
		CmdDone3		Boolean	Completed command execution 3
		CmdPermit3		Boolean	Command execution permission 3
		CmdAbort3		Boolean	Command execution suspended 3
		PosDensoRobot		eRC_PosDensoRot	Robot position (position, axis, Tool, Work information always output)
		Override		Integer	External speed (always output)
		Dynamic		eRC_Dynamic	Internal speed, internal acceleration, internal deceleration (always output)
		CoosdSys		eRC_CoordSys	Tool number, work number (always output)
		ExternalTCP		Word	External TCP (WorkAttribute value always output)
		LastCommandNo		Integer	Motion command increment information for user confirmation
		ActualCommandNo		Integer	Actual motion increment information for user confirmation
		AbortInc		Dword	Interruption increment
		RC_Major		Dword	RC command slave version: major
		RC_Minor		Dword	RC command slave version: minor
		RC_Revision		Dword	RC command slave version: revision
		Heartbeat		Integer	Heartbeat for state of RC8
		MoveBefferPreset		Struct	Move buffer preset
			BufferMode	Integer	Buffer mode
			TransitionMode	Integer	Transition mode
			TransitionParameter	Integer	Transition parameters
		StopState		Boolean	Robot stop state
		InterruptState		Boolean	Robot interrupt status
		RCBatteryOver		Boolean	RC internal battery inspection day over
		EncBatteryOver		Boolean	Encoder battery inspection day over
	Cmd			Struct	RC8 input
		CmdStrobe		Boolean	Command Strobe
		MotorEnable		Boolean	Motor Enable
		RobotEnable		Boolean	Robot Enable
		Cmd		Array[0..37] of Dword	Command (Index 0 to 37)
		CmdStrobe2		Boolean	Command Strobe 2
		Cmd2		Array[0..13] of Dword	Command 2 (Index 0 to 13)
		CmdStrobe3		Boolean	Command Strobe 3
		Cmd3		Dword	Command 3
		AbortLatch		Boolean	Interruption latch
		Override		Integer	External speed (always output to RC8)
		Heartbeat		Integer	Heartbeat for PLC status
		Step Stop		Boolean	Step stop for "MC_CallSubRoutine"
		Instantaneous Stop		Boolean	Instantaneous stop for "MC_CallSubRoutine"
	TransNextOption			Boolean	NEXT option available for other FB
	TransOnWay			Boolean	Moving on another FB
	CmdSlaveError			Boolean	FLG used for all error (including RC8 error)
	NonMotion			Struct	Non motion
		Exec		Boolean	Execution for non-operation FB simultaneous execution Exec
		Error		Boolean	Error for concurrent execution of inactive FB
	PLC_Major			Dword	PLC command slave library version: major
	PLC_Minor			Dword	PLC command slave library version: minor
	PLC_Revision			Dword	PLC command slave library version: revision

ID : 7708

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