Introduction ProfileCore - ThorstenBrach/SRCI GitHub Wiki

MC_ChangeSpeedOverrideFB

Change actual speed override

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MC_EnableRobotFB

Enable/Disable robot into RA power state "Enabled"

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MC_ExchangeConfigurationFB

Reads and writes specific configuration parameters on RC that are required for the RI to work

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MC_GroupContinueFB

Continue interrupted path

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MC_GroupInterruptFB

Interrupt active movement, possible to continue movement

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MC_GroupJogFB

Jog robot manually

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MC_GroupResetFB

Acknowledgement all pending errors

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MC_GroupStopFB

Abort actual movement and delete buffer

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MC_MoveAxesAbsoluteFB

Move all joints to an absolute joint position (Absolute Joint PTP)

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MC_MoveDirectAbsoluteFB

Move Joints to an absolute cartesian position (Absolute cartesian PTP) (Joint interpolated movement)

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MC_MoveLinearAbsoluteFB

Move the TCP to an absolute cartesian position (linear interpolation)

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MC_ReadActualPositionFB

Read the actual position – TCP: X…RZ + config/Turn, … - Joint: (J1…E6)

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MC_ReadFrameDataFB

Read content of selected user frame number

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MC_ReadLoadDataFB

Read content of selected payload number

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MC_ReadMessagesFB

Read error codes of pending errors and move them into user data block "RobotData"

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MC_ReadRobotDataFB

Read robot-specific data from the RC

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MC_ReadRobotDefaultDynamicsFB

Read default values of dynamic parameters used by move commands

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MC_ReadRobotReferenceDynamicsFB

Read reference values of robot dynamics for path movement

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MC_ReadRobotSWLimitsFB

Read actual software limits of the axes Positive and negative Limit of Joint J1…J6, E1…E6

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MC_ReadToolDataFB

Read content of selected tool number

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MC_ReturnToPrimaryFB

Return to path left during active interrupt

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MC_RobotTaskFB

Handles multiple mechanisms required for operation of the interface.

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MC_SetSequenceFB

Set active sequence

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MC_WriteFrameDataFB

Change configuration of selected user frame number

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MC_WriteLoadDataFB

Change configuration of selected payload number

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MC_WriteRobotDefaultDynamicsFB

Write default values of dynamic parameters used by move commands

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MC_WriteRobotReferenceDynamicsFB

Write reference values of robot dynamics for path movement

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MC_WriteRobotSWLimitsFB

Change robot limits of robot axes (degree).

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MC_WriteToolDataFB

Change configuration of selected tool number

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