| Variable name |
Data type |
Valid range |
Default |
Omission (*) |
| Execute |
Boolean |
|
FALSE |
No |
- Execution start
- When the variable is changed from FALSE to TRUE, this FB is executed.
|
| RotationAngle |
Real |
-180 to 180 |
0 |
Yes |
- Rotary angle
- Specify the relative rotary angle around the approach vector. Unit is degree.
The current attitude is set to 0 degree.
Rotation in clockwise is the positive, and anticlockwise is the negative.
|
| ExtAxPosition |
eRC_Joint |
|
Yes |
- Target position of extended-joint
- Specify the target position of extended-joint in Joint coordinate (Joint type). Unit is degree.
If "-1" is specified in J1, it is deemed that an extended-joint is not used.
- For 4-axis robot: J5 to J8 are available.
For 6-axis robot: J7 to J8 are available.
For both 4-axis and 6-axis robots, if Joint settings of extended-joint is disabled, this variable is not available.
If the target value is entered in an element that does not exist in the controlled robot, the robot controller ignores the value.
For example, if any value is entered in variable "J5" to control a 6-axis robot, the robot controller controls the robot without using the value (variable J5).
|
| Velocity |
Real |
0.1 to 100.0 |
-1 |
Yes |
- Internal speed
- Specify the internal speed used when moving to the target position. The unit is "%".
In addition to valid range values, -1 and 0 can be used.
- -1 : The robot moves at the current internal speed.
0 : The minimum valid range value "0.1" is applied.
|
| Acceleration |
Real |
0.0001 to 100.0 |
-1 |
Yes |
- Internal acceleration
- Specify the internal acceleration used when moving to the target position. The unit is "%".
In addition to valid range values, -1 and 0 can be used.
- -1 : The robot moves at the current internal acceleration.
0 : The minimum valid range value "0.0001" is applied.
|
| Deceleration |
Real |
0.0001 to 100.0 |
-1 |
Yes |
- Internal deceleration
- Specify the internal deceleration used when moving to the target position. The unit is "%".
In addition to valid range values, -1 and 0 can be used.
- -1 : The robot moves at the current internal deceleration.
0 : The minimum valid range value "0.0001" is applied.
|
| BufferMode |
Integer |
0, 1, 6, 7, 8, 9 |
0 |
Yes |
- Buffer mode selection
- Specify how to connect motions when this FB is executed when the robot is in motion.
The process flow of each buffer mode is as follows:
[0 : Aborting OP0]
- The robot decelerates at 100% deceleration.
- The robot stops (End motion).
- This FB motion is executed.
[1 : Buffered]
- The robot moves to the current target position.
- The robot stops (Encoder value check motion (Axes coordinate system)).
- This FB motion is executed.
[6 : Blending]
- The robot moves to the vicinity of the current target position.
- The robot executes the motion end method specified in the input Variable "TransitionMode".
- This FB motion is executed.
[7 : Aborting OP1]
- The robot decelerates at 100% deceleration.
- The robot does not stop (Pass motion).
- This FB motion is executed.
[8 : Aborting OP2]
- The robot decelerates at the current deceleration.
- The robot stops (End motion).
- This FB motion is executed.
[9 : Aborting OP3]
- The robot decelerates at the current deceleration.
- The robot does not stop (Pass motion).
- This FB motion is executed.
|
| TransitionMode |
Integer |
0, 3, 10, 11 |
0 |
Yes |
- Transition mode selection
- Specify how to end the current motion when "6 : Blending" is selected in the input variable "BufferMode".
The end method for each value is as follows:
[0 : The robot stops (Encoder value check motion (Axes coordinate system))]
[3 : The robot does not stop (Pass motion of distance designation)]
- If 3 is selected, specify a distance to start the pass motion in the input Variable "TransitionParameter".
[10 : The robot does not stop (Pass motion)]
[11 : The robot stops (Encoder value check motion (Cartesian coordinate system))]
|
| TransitionParameter |
Integer |
0 to 32767 |
-1 |
Yes |
- Target position
- Specify a distance to start the pass motion when "3 : The robot does not stop (Pass motion of distance designation)" is selected in the input variable "TransitionMode". Unit is millimeter.
When the distance between the robot position and the current target position is below the value of this variable ("TransitionParameter"), the pass motion starts.
|
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