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ID : 7779

MC_AddPathPoint

To add a path point to the path data.

Graphic expression FB category
Ver.5.5 Ver.5.35
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.
RouteNo Integer 1 to 20 1 No
Path number
Specify a path number.
Position eRC_Position No
Position data
Specify the position with a cartesian coordinate system (Position type). The units are as follows:
X, Y, Z : "mm"
RX, RY, RZ : "Deg"
FIG : "-"

Even if the target value is set to an axis that does not exist in the controlled robot, the robot controller ignores the value. For example, if a value is set to the variable "RX" when a four-axis robot is controlled, the robot controller controls the robot without using the value (variable "RX").

(*) : 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

Add a path point to the path data.

If there are already some path points in the path data with the designated path number, it will be added following the data.

Attention

-

ID : 7779

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