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ID : 7793

MC_ReadSrvData

To return the servo internal data of the all axis.

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.
DataNo Integer 1, 2, 4, 5, 7, 8, 17, 18, 19, 20 1 No
Data number
Specify a data number to designate.
For details, refer to Function description.

(*) : 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".
SrvData eRC_Joint
Servo internal data

Function Description

Data number Data type Unit
1 Current motor speed value rpm
2 Motor angle deviation mm or deg
4 Absolute motor current value Rated ratio %
5 Motor torque command position (excluding dead weight compensation) Rated ratio %
7 Load factor %
8 Each axial position and angle command position mm or deg
17 Tool tip speed (work coordinates and position 3 component only) mm/s
18 Tool tip deviation (work coordinates and position 3 component only) mm
19 Tool tip speed (tool coordinates and position 3 component only) mm/s
20 Tool tip deviation (tool coordinates and position 3 component only) mm

Attention

-

ID : 7793

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