Group Parameter List
The following tables contain group related parameters which can be read or written using the function blocks Y_GroupReadVectorParam, Y_GroupReadParameter, Y_GroupReadBoolParam, Y_GroupWriteVectorParam, Y_GroupWriteParameter, and Y_GroupWriteBoolParam. This is a comprehensive list that contains parameters that may not be applicable for all group types.
| Name | Parameter | DataType | R/W | Default | Description |
|---|---|---|---|---|---|
| Accel Limit Ignore | 2112 | BOOL | R/W | FALSE | Ignore transition acceleration constraints and perform moves even if a more aggressive acceleration or deceleration is required without reporting ErrorID 8985. |
| Accel Factor | 2102 | LREAL | R | n/a | The Acceleration factor in effect for scaling all group MC_Move* function blocks. |
| Actual Position - ACS | 2550 | VECTOR | R | n/a | Same as AxesGroup.Axis.ActualPos[] |
| Actual Position - PCS | 2580 | VECTOR | R | n/a | Same as AxesGroup.Part.ActualPos[] |
| Actual Position - MCS | 2560 | VECTOR | R | n/a | Same as AxesGroup.Machine.ActualPos[] |
| Actual Position - WCS | 2570 | VECTOR | R | n/a | Same as AxesGroup.World.ActualPos[] |
| Actual Velocity - ACS | 2551 | VECTOR | R | n/a | Same as AxesGroup.Axis.ActualVel[] |
| Actual Velocity - PCS | 2581 | VECTOR | R | n/a | Same as AxesGroup.Part.ActualVel[] |
| Actual Velocity - MCS | 2561 | VECTOR | R | n/a | Same as AxesGroup.Machine.ActualVel[] |
| Actual Velocity - WCS | 2571 | VECTOR | R | n/a | Same as AxesGroup.World.ActualVel[] |
| Actual Torque | 2502 | VECTOR | R | n/a | Vector of torque values for each Joint. The array index corresponds to the JointIndex as configured in the Hardware Configuration. |
| Axes Count | 2001 | LREAL | R | n/a | The number of axes configured in the group. This is the same as AxesGroup.Axis.Dim, and includes all prime and auxiliary axes. |
| Buffer Minimum | 2203 | LREAL | R/W | 0 | Parameter 2203 is the minimum pre-buffer. Leave this parameter set to zero. |
| Colinearity Check | 2111 | LREAL | R/W | 0.1 | Applies when more than one motion block are in the motion buffer with BufferMode#Blending* set. This parameter specifies the tolerance when checking if sequential motion segments are co-linear enough to be considered colinear. Units are in degrees. If the colinearity of two segments is less than the set value, they will be treated as if they are colinear, meaning there will be no blend transition applied and no speed change will occur. If the ColinearityCheck value is too high, this could cause acceleration and torque spikes. If two segments are non co-linear by more than the set value, motion will be blended using the TransitionParameter. Yaskawa recommends setting values in the range of 3 to 10 degrees for most applications. |
| Collision Detect Levels | 2900 | VECTOR | R/W | n/a | For MotomanSync robot groups only. Set/Get collision levels. Values range from 1 to 500. |
| Commanded Acceleration - ACS | 2555 | VECTOR | R | n/a | Same as AxesGroup.Axis.CmdAccel[] |
| Commanded Acceleration - PCS | 2585 | VECTOR | R | n/a | Same as AxesGroup.Part.CmdAccel[] |
| Commanded Acceleration - MCS | 2565 | VECTOR | R | n/a | Same as AxesGroup.Machine.CmdAccel[] |
| Commanded Acceleration - WCS | 2575 | VECTOR | R | n/a | Same as AxesGroup.World.CmdAccel[] |
| Commanded Position - ACS | 2553 | VECTOR | R | n/a | Same as AxesGroup.Axis.CmdPos[] |
| Commanded Position - PCS | 2583 | VECTOR | R | n/a | Same as AxesGroup.Part.CmdPos[] |
| Commanded Position - MCS | 2563 | VECTOR | R | n/a | Same as AxesGroup.Machine.CmdPos[] |
| Commanded Position - WCS | 2573 | VECTOR | R | n/a | Same as AxesGroup.World.CmdPos[] |
| Commanded Velocity - ACS | 2554 | VECTOR | R | n/a | Same as AxesGroup.Axis.CmdVel[] |
| Commanded Velocity - PCS | 2584 | VECTOR | R | n/a | Same as AxesGroup.Part.CmdVel[] |
| Commanded Velocity - MCS | 2564 | VECTOR | R | n/a | Same as AxesGroup.Machine.CmdVel[] |
| Commanded Velocity - WCS | 2574 | VECTOR | R | n/a | Same as AxesGroup.World.CmdVel[] |
| Control Mode | 2703 | BOOL | R/W | n/a | Indicates whether the group is in manual or auto operation mode. 0=Auto, 1=Manual. Y_GroupJog* function blocks will only operate when the group is in ManualMode. The 6 group motion blocks such as MC_MoveLinearAbsolute will permit motion only when the group is in Automatic mode. (ErrorID 8981 will occur if the ControlMode is incorrect.) |
| Free Curve Mode | 2811 | BOOL | W | FALSE | For MotomanSync robot groups only. Set this value TRUE to enable the mode for connecting multiple move instructions together to form a path with blended velocities. |
| Free Curve Status | 2800 | BOOL | R | FALSE | For MotomanSync robot groups only. This value indicates if the mode for connecting multiple move instructions together to form a path with blended velocities is enabled. |
| Home Offsets (currently used by group) | 2501 | VECTOR | R | n/a | For remote hosted robot groups, the MS_Driver's Valid output must be high for parameters to be read. Use MC_GroupSetPosition to set the home offsets. |
| Home Offsets (from current group position) | 2500 | VECTOR | R | n/a | For remote hosted robot groups, the MS_Driver's Valid output must be high for parameters to be read. Use MC_GroupSetPosition to set the home offsets. |
| Interference Limits Disable - Arm | 3002 | BOOL | R/W | FALSE | For MotomanSync robot groups only. |
| Interference Limits Disable - Self | 3003 | BOOL | R/W | FALSE | For MotomanSync robot groups only. |
| Interference Limits Disable- Cubic/axis | 3004 | BOOL | R/W | FALSE | For MotomanSync robot groups only. |
| Collision Detect Status | 3010 | BOOL | R/W | TRUE | For MotomanSync robot groups only. Enable or disable collision detect function. TRUE = Enabled, False = Disabled. Defaults back to Enabled MS_Driver is enabled. This status is not shown on programming pendant. |
| Key switch status | 2850 | LREAL | R | 0.0 | For MotomanSync robot groups only. 0 = remote play, 1 = remote teach, 2 = key switch play, 3 = key switch teach. |
| Limit Accel Enable - ACS | 2608 | BOOL | R/W | TRUE | |
| Limit Accel Enable - MCS | 2620 | BOOL | R/W | TRUE | |
| Limit Accel Maximum - ACS | 2607 | VECTOR | R/W | 1.7976931348623157 × E308 | Set unused axes to very high values or infinity (1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Accel Maximum - MCS | 2619 | VECTOR | R/W | 1.7976931348623157 × E308 | Set unused axes to very high values or infinity (1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Accel Minimum - ACS | 2606 | VECTOR | R/W | -1.7976931348623157 × E308 | Set unused axes to very low values or infinity (-1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Accel Minimum - MCS | 2618 | VECTOR | R/W | -1.7976931348623157 × E308 | Set unused axes to very low values or infinity (-1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Decel Enable - ACS | 2611 | BOOL | R/W | TRUE | |
| Limit Decel Enable - MCS | 2623 | BOOL | R/W | TRUE | |
| Limit Decel Maximum - ACS | 2610 | VECTOR | R/W | 1.7976931348623157 × E308 | Set unused axes to very high values or infinity (1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Decel Maximum - MCS | 2622 | VECTOR | R/W | 1.7976931348623157 × E308 | Set unused axes to very high values or infinity (1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Decel Minimum - ACS | 2609 | VECTOR | R/W | -1.7976931348623157 × E308 | Set unused axes to very low values or infinity (-1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Decel Minimum - MCS | 2621 | VECTOR | R/W | -1.7976931348623157 × E308 | Set unused axes to very low values or infinity (-1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Velocity Enable - ACS | 2605 | BOOL | R/W | TRUE | |
| Limit Velocity Enable - MCS | 2617 | BOOL | R/W | TRUE | |
| Limit Velocity Maximum - ACS | 2604 | VECTOR | R/W | 1.7976931348623157 × E308 | Set unused axes to very high values or infinity (1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Velocity Maximum - MCS | 2616 | VECTOR | R/W | 1.7976931348623157 × E308 | Set unused axes to very high values or infinity (1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Velocity Minimum - ACS | 2603 | VECTOR | R/W | -1.7976931348623157 × E308 | Set unused axes to very low values or infinity (-1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Velocity Minimum - MCS | 2615 | VECTOR | R/W | -1.7976931348623157 × E308 | Set unused axes to very low values or infinity (-1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Position Enable - ACS | 2602 | BOOL | R/W | TRUE | |
| Limit Position Enable - MCS | 2614 | BOOL | R/W | TRUE | |
| Limit Position Maximum - ACS | 2601 | VECTOR | R/W | 1.7976931348623157 × E308 | Set unused axes to very high values or infinity (1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Position Maximum - MCS | 2613 | VECTOR | R/W | 1.7976931348623157 × E308 | Set unused axes to very high values or infinity (1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Position Minimum - ACS | 2600 | VECTOR | R/W | -1.7976931348623157 × E308 | Set unused axes to very low values or infinity (-1.7976931348623157 × E308) to avoid false soft limit errors. |
| Limit Position Minimum - MCS | 2612 | VECTOR | R/W | -1.7976931348623157 × E308 | Set unused axes to very low values or infinity (-1.7976931348623157 × E308) to avoid false soft limit errors. |
| Position Limits - Disable All | 3000 | BOOL | R/W | FALSE | For MotomanSync robot groups only. The limit release function is used to temporarily deactivate the limit monitoring so that the robot can be moved away from a situation where it cannot be moved anymore e.g. due to the violation of an interference zone (or any of the other position limits). After all limits are released you can jog the robot away from the violation. This needs to be done very carefully to prevent damage. |
| Lookahead | 2204 | LREAL | R/W | 0 | Motion queue lookahead applies when a series of segments are executed as a continuous motion path. To set an appropriate value, determine the machine's maximum velocity, acceleration / deceleration, and typical minimum average segment distance to determine the maximum lookahead required. For example, when prm 2204 is set to 75, the controller will re-blend up to the last 75 segments if necessary when a new motion function block is executed which specifies a lower velocity than the previous segment velocities. If path dynamics would have required more prior segment velocities to be recalculated, the deceleration of the path will not be correct. |
| Max Detected Torque | 2901 | VECTOR | R | n/a | For MotomanSync robot groups only. Returns the maximum detected torque since monitoring was last reset using parameter 2902. Units are in percentage of rated torque. Note: The information provided as the output of Y_GroupReadVectorParam will only be updated on the rising edge of the 'Enable' input of the Function Block. |
| Motion Segment ID | 2201 | LREAL | R | n/a | Segment ID of the function block currently providing motion. If the current segment ID is a blend transition between two segments provided by the application program, MotionSegment will be incremented at the midpoint of the transition. If no motion is occurring, this parameter will report zero. Use Group Parameter 2202 (Queued Segment ID)to obtain the ID of the segment at the time it is added to the motion queue. |
| Operation Mode | 2702 | BOOL | R | n/a | Indicates whether the group is in simulation or hardware mode. Simulation mode does not require physical axes to be connected. In simulation mode, parameter 2702 = 0. In hardware mode, parameter 2702 = 1. |
| Powered | 2704 | BOOL | R | n/a | Indicates when all axes in the group are powered. (servos enabled.) |
| Queued Segment ID | 2202 | LREAL | R | n/a | Segment ID of the last function block executed. If several motion functions have been executed in a non aborting BufferMode, motion corresponding to the last block added to the motion queue will occur at some later time. To determine when a buffered motion block is running, read this parameter immediately after executing a motion function block, and read the Motion Segment ID (Group Parameter 2201) to determine the ID of the function block currently providing motion. |
| QueueSize | 2002 | LREAL | R | 16 | The maximum number of motion function blocks that can be buffered in the motion queue. The minimum is 16 and the maximum is 8192. |
| Reset Maximum Detected Torque Levels | 2902 | BOOL | W | n/a | For MotomanSync robot groups only. Resets the maximum detected torque levels reported via parameter 2901. Note: The 'Value' input of Y_GroupWriteBoolParam will be ignored when using this parameter, meaning that the maximum detected torque levels will be reset on the rising edge of the 'Execute' input of the Function Block. |
| S Curve Enable | 2701 | BOOL | R/W | FALSE | Enable or disable the moving average filter for the commanded TCP position in world space. S Curve filter is possible for all supported Coordinate Systems except ACS. |
| S Curve Time Constant | 2110 | LREAL | R/W | 0.0 | This value is the path S-Curve time constant in seconds. The range is 0.0 to 0.05 (zero exclusive). This parameter can only be written when the AxesGroup is disabled. |
| System State | 2250 | LREAL | R | 0.0 | 0 = Initializing 1 = Enabling To Idle 2 = Enabling To Held 3 = Idle 4 = Running 5 = Holding 6 = Held 7 = Aborting 8 = Servos Off Aborted 9 = Stopping To Idle 10 = Stopping To Servos Off 11 = Stopping To Servos Off Held 12 = Servos Off Ready 13 = Servos Off Held 14 = Data Fault |
| TCP Velocity | 2120 | LREAL | R | n/a | For MotomanSync robot groups only. |
| TCP Max Angular Accel | 2104 | LREAL | R/W | n/a | For MotomanSync robot groups only. |
| TCP Max Angular Jerk | 2106 | LREAL | R/W | n/a | For MotomanSync robot groups only. |
| TCP Max Linear Accel | 2103 | LREAL | R/W | n/a | For MotomanSync robot groups only. |
| TCP Max Linear Jerk | 2105 | LREAL | R/W | n/a | For MotomanSync robot groups only. |
| TrackState | 2251 | LREAL | R | 0.0 | 0 = Not Tracking. 1 = Waiting for the RecordedPosition to cross the StartDistance. 2 = Blending into tracking (PCS is preparing to track, but full tracking lock is not yet achieved.) 3 = Tracking is fully engaged and locked to the source. 4 = Blending out of tracking. (PCS is still partially tracking the source, but full tracking lock is no longer in effect.) |
| VelFactor | 2101 | LREAL | R | 1.0 | The Velocity factor by which all group moves are scaled. It is the value last written by an MC_GroupSetOverride function block. |