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ID : 7769

MC_ForceWaitCondition

Wait until the specified conditions of the force control are satisfied.

Graphic expression FB category
Ver.5.5 Ver.5.35
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.
ErAlwPosVarNo Integer 0 or larger -1 Yes
Travel distance
Sets the absolute value of travel distance of the tool end from the control start. Unit is millimeter or degree. Spscify the number of a cartesian coordinate system (Position type) settings.
ForceMomentsPosVarNo Integer 0 or larger -1 Yes
Force and moment
Sets the absolute value of the force and moment converted to the force control coordinate system. Unit is "N" or "Nm". Spscify the number of a cartesian coordinate system (Position type) settings.
ElapsedTime Integer 0 or larger -1 Yes
Elapsed time
Specify the elapsed time [ms] from the control start. Unit is milliseconds.
ExitMode Integer 0 to 2 0 Yes
Termination mode
Specify the termination mode (see the table below) of the robot and force control when the condition is met.
[0 : Neither the robot motion nor force control is terminated.]
[1 : The robot immediately stops. (Halt) Force control is not terminated.]
[2 : Both the robot motion and force control are terminated.]
TimeOut Integer 0 or larger -1 Yes
Timeout
Specify the timeout period. Unit is milliseconds.

(*) : 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

This function is exclusive to the Compliance Function with Force Sensor.

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 : 7769

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