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ID : 7871

eRC_AxesGroup

"eRC_AxesGroup"data structure

Variable name Data type Description
Static    
  Status Struct RC8 output
    CmdBusy Boolean Command being executed
    CmdDone Boolean Completed command execution
    CmdPermit Boolean Command execution permission
    MotorProcessBusy Boolean Motor processing in progress
    MotorProcessPermit Boolean Motor processing permission
    RobotEnableProcessBusy Boolean Robot Enable processing in progress
    RobotEnableProcessPermit Boolean Robot Enable Process permission
    CmdSlaveEnable Boolean Command slave function enabled
    RobotOnMoveCmd Boolean Robot operation in progress (command value)
    ServoOn Boolean Servo on
    RobotError Boolean Robot error
    RobotAlarm Boolean Robot warning
    RobotInitialDone Boolean Robot initialization complete
    AuxMode Boolean External mode
    RobotEnable Boolean Enable Robot Enable (TakeArm state)
    MachineLock Boolean Machine lock state
    HighPathAccuracy Boolean High precision control effective state
    Result Array[1..18] of Dword Return value
    RobotMoveSID Dword Robot movement change (for continuous operation timing)
    ErrorID Dword Error number
    AreaOut Array[0..31] of Boolean Area detection output
    CmdAbort Boolean Command execution suspended
    CmdBusy2 Boolean Command being executed 2
    CmdDone2 Boolean Completed command execution 2
    CmdPermit2 Boolean Command execution permission 2
    CmdAbort2 Boolean Command execution suspended 2
    CmdBusy3 Boolean Command being executed 3
    CmdDone3 Boolean Completed command execution 3
    CmdPermit3 Boolean Command execution permission 3
    CmdAbort3 Boolean Command execution suspended 3
    PosDensoRobot eRC_PosDensoRot Robot position (position, axis, Tool, Work information always output)
    Override Integer External speed (always output)
    Dynamic eRC_Dynamic Internal speed, internal acceleration, internal deceleration (always output)
    CoosdSys eRC_CoordSys Tool number, work number (always output)
    ExternalTCP Word External TCP (WorkAttribute value always output)
    LastCommandNo Integer Motion command increment information for user confirmation
    ActualCommandNo Integer Actual motion increment information for user confirmation
    AbortInc Dword Interruption increment
    RC_Major Dword RC command slave version: major
    RC_Minor Dword RC command slave version: minor
    RC_Revision Dword RC command slave version: revision
    Heartbeat Integer Heartbeat for state of RC8
    MoveBefferPreset Struct Move buffer preset
      BufferMode Integer Buffer mode
      TransitionMode Integer Transition mode
      TransitionParameter Integer Transition parameters
    StopState Boolean Robot stop state
    InterruptState Boolean Robot interrupt status
    RCBatteryOver Boolean RC internal battery inspection day over
    EncBatteryOver Boolean Encoder battery inspection day over
  Cmd Struct RC8 input
    CmdStrobe Boolean Command Strobe
    MotorEnable Boolean Motor Enable
    RobotEnable Boolean Robot Enable
    Cmd Array[0..37] of Dword Command (Index 0 to 37)
    CmdStrobe2 Boolean Command Strobe 2
    Cmd2 Array[0..13] of Dword Command 2 (Index 0 to 13)
    CmdStrobe3 Boolean Command Strobe 3
    Cmd3 Dword Command 3
    AbortLatch Boolean Interruption latch
    Override Integer External speed (always output to RC8)
    Heartbeat Integer Heartbeat for PLC status
    Step Stop Boolean Step stop for "MC_CallSubRoutine"
    Instantaneous Stop Boolean Instantaneous stop for "MC_CallSubRoutine"
  TransNextOption Boolean NEXT option available for other FB
  TransOnWay Boolean Moving on another FB
  CmdSlaveError Boolean FLG used for all error (including RC8 error)
  NonMotion Struct Non motion
    Exec Boolean Execution for non-operation FB simultaneous execution Exec
    Error Boolean Error for concurrent execution of inactive FB
  PLC_Major Dword PLC command slave library version: major
  PLC_Minor Dword PLC command slave library version: minor
  PLC_Revision Dword PLC command slave library version: revision

ID : 7871

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