ID : 7843

MC_WritePLCErr

To send a PLC error to the robot controller.

Graphic expression		FB category
Ver.5.5	Ver.5.35	FB category
		Non motion

Input and Output Variable

Variable name	Data type	Valid range	Default	Omission (*)
AxesGroup	eRC_AxesGroup			No
AxesGroup	Robot Group Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Variable name	Data type	Valid range	Default	Omission (*)
Execute	Boolean	TRUE : Start FALSE : -	FALSE	No
Execute	Execution start When the variable is changed from FALSE to TRUE, this FB is executed.
PLCErrorIDEx	DWord	-		No
PLCErrorIDEx	PLC error

(*) : For some Variable, entries can be omitted.

Variable name	Data type / Description
Done	Boolean
Done	Execution completion confirmation TRUE : This FB execution is completed. FALSE : This FB execution is not completed.
Busy	Boolean
Busy	Processing status of this FB TRUE : Being executed. FALSE : Not being executed.
Error	Boolean
Error	Error presence TRUE : This FB ended abnormally. FALSE : This FB ended successfully.
ErrorID	Word
ErrorID	Error location 2800 (hexadecimal) : The error occurred in the PLC program. 2801 (hexadecimal) : The error occurred in the robot controller.
ErrorIDEx	DWord
ErrorIDEx	Error Code This is a number to identify the error description. For details, refer to "Error code list".

This function block sends an error occurred in PLC to the robot controller.
Use this function block to stop the robot when an error occures in PLC.

ID : 7843