MC_ActivateNextCommandFB

Quick Links :

📝 Description:
⚙️ FB Variables:
⚙️ FB Structures:
⏳ Timing Diagram:
📋 Examples:
💡 Additional Information:

📝 Description:

This command terminates the current instruction in the sequence buffer and proceeds with the next one.

The input parameter ProcessingMode determines whether the function is executed once in the parallel buffer or waits for a trigger signal. If the function is set to wait for a trigger, it can be configured to run either once (Trigger Once) or repeatedly (Trigger Multiple) until the user disables it. The ListenerID parameter specifies which trigger action to listen for.

If an error occurs during execution or if the RC is unable to process the command, an error message along with a corresponding ErrorID is returned.

⚙️ FB Variables:

VAR_INPUT

Parameter	Data Type	Default Value	Description	Required
InternalLogger	IMessageLogger	-	For internal usage only	-
ExternalLogger	IMessageLogger	-	For internal usage only	-
LogLevel	LogLevelEnum	-	For internal usage only	-
Name	STRING(20)	-	User defined command name	O
ExecMode	ExecutionMode	ExecutionMode.SEQUENCE_PRIMARY	Execution mode of the command	M
Priority	PriorityLevel	PriorityLevel.NORMAL	Priority of the command	M
Execute	BOOL	-	Start of the command at the rising edge	M
ParCmd	[ActivateNextCommandParCmd]	-	Command specific parameter	M

VAR_IN_OUT

Parameter	Data Type	Default Value	Description	Required
AxesGroup	AxesGroup	-	Robot group assigned to the function	M

VAR_OUTPUT

Parameter	Data Type	Default Value	Description	Required
CommandData	RobotLibraryCommandDataFB	-	For internal usage only	-
ResponseData	RobotLibraryResponseDataFB	-	For internal usage only	-
Error	BOOL	-	Error occurred during execution. See ErrorID for details	M
ErrorID	WORD	-	Error ID as raw value for error diagnosis	M
ErrorIDEnum	RobotLibraryErrorIdEnum	-	Error ID as enumeration for error diagnosis	M
ErrorAddTxt	STRING(MAX_ADD_TEXT_LENGTH)	-	Additional error text information	M
WarningID	WORD	-	Warning ID as raw value for identifying warnings	M
WarningIDEnum	RobotLibraryWarningIdEnum	-	Warning ID as enumeration for identifying warning	M
InfoID	WORD	-	Info ID for as raw value for identifying additional information	M
InfoIDEnum	RobotLibraryInfoIdEnum	-	Info ID for as enumeration for identifying additional information	M
Done	BOOL	-	Command executed successfully	M
Busy	BOOL	-	Function block is being processed	M
CommmandBuffered	BOOL	-	Command was transferred to the robot-controller and confirmed	M
OutCmd	[ActivateNextCommandOutCmd]	-	Command specific outputs	M

⚙️ FB Structures:

ActivateNextCommandParCmd

Parameter	Data Type	Default Value	Description	Required
ProcessingMode	ProcessingMode	-	Processing mode used to activate the next command
ListenerID	SINT	-	ID of the trigger function that may be triggered: • 0: Immediately (default) – execute this function immediately • >0: Execute when the trigger function with the same EmitterID is called

ActivateNextCommandOutCmd

Parameter	Data Type	Default Value	Description	Required
OriginID	INT	-	Unique system-generated ID of the "Action" when the function is triggered. • >0: Action is started by trigger with same FollowID • <0: Action is stopped by trigger with same FollowID
InvocationCounter	USINT	-	Number of successful trigger-based command invocations Only relevant if `ListenerID > 0`

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration

VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup           : AxesGroup;
  /// Robot Task
  RobotTask           : MC_RobotTaskFB;
  /// Activate next command
  ActivateNextCommand : MC_ActivateNextCommandFB;
END_VAR

Call

// Call functionblock
ActivateNextCommand
(
  Name           := 'SRCI_Robot',
  ExecMode       := ExecutionMode.PARALLEL,
  Priority       := PriorityLevel.NORMAL,
  ProcessingMode := ProcessingModeEnum.PARALLEL,
  AxesGroup      := AxesGroup
);

Usage

VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : ActivateNextCommandParCmd;
END_VAR

VAR_OUTPUT
  /// Error ID
  ErrorID     : DINT;
  /// Error addition text
  ErrorAddTxt : STRING;
  /// Command outputs
  OutCmd      : ActivateNextCommandOutCmd;
END_VAR

VAR
  /// internal step counter
 _stepCmd    : DINT;
  /// internal timer for command
 _timerCmd   : TON;
  /// internal timeout for command
 _timeoutCmd : TIME := T#5S;
END_VAR

// forwarding command parameter(s)
ActivateNextCommand.ParCmd := ParCmd;
// forwarding command output(s)
OutCmd := ActivateNextCommand.OutCmd;

CASE _stepCmd OF

  0: // start execution ?
     IF ( Execute )
     THEN
       // Reset request
       Execute := FALSE;
       // set timeout
       SetTimeout(PT := _timeoutCmd, rTimer := _timerCmd);
       // inc step counter
      _stepCmd := _stepCmd + 1;
     END_IF

  1: // Start Execution
     IF (( NOT ActivateNextCommand.Busy  ) AND
         ( NOT ActivateNextCommand.Error ))
     THEN
       // start execution
       ActivateNextCommand.Execute := TRUE;
       // set timeout
       SetTimeout(PT := _timeoutCmd, rTimer := _timerCmd);
       // inc step counter
      _stepCmd := _stepCmd + 1;
     ELSE
       // timeout exceeded ?
       IF (CheckTimeout(_timerCmd) = RobotLibraryConstants.OK)
       THEN
         ErrorID     := RobotLibraryErrorIdEnum.ERR_TIMEOUT_CMD;
         ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
       END_IF

       // Error occurred ?
       IF (ActivateNextCommand.Error)
       THEN
         ErrorID     := ActivateNextCommand.ErrorID;
         ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
       END_IF
     END_IF

  2: // Wait Execution done ?
     IF (( NOT ActivateNextCommand.Busy ) AND
         (     ActivateNextCommand.Done ))
     THEN
       // stop execution
       ActivateNextCommand.Execute := FALSE;
       // set timeout
       SetTimeout(PT := _timeoutCmd, rTimer := _timerCmd);
       // set step counter
      _stepCmd := 0;
     ELSE
       // timeout exceeded ?
       IF (CheckTimeout(_timerCmd) = RobotLibraryConstants.OK)
       THEN
         ErrorID     := RobotLibraryErrorIdEnum.ERR_TIMEOUT_CMD;
         ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
       END_IF

       // Error occurred ?
       IF (ActivateNextCommand.Error)
       THEN
         ErrorID     := ActivateNextCommand.ErrorID;
         ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
       END_IF
     END_IF

ELSE
  // invalid step
  ErrorID     := RobotLibraryErrorIdEnum.ERR_INVALID_STEP;
  ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
END_CASE

💡 Additional Information:

Work in progress – more content coming soon.

FunctionBlocks Additional MC_ActivateNextCommandFB - ThorstenBrach/SRCI GitHub Wiki

MC_ActivateNextCommandFB

📝 Description:

⚙️ FB Variables:

⚙️ FB Structures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

This project is made with ❤️ for automation ⚙️ and robotics 🤖

⚠️ GitHub.com Fallback ⚠️

FunctionBlocks Additional MC_ActivateNextCommandFB - ThorstenBrach/SRCI GitHub Wiki

MC_ActivateNextCommandFB

📝 Description:

⚙️ FB Variables:

⚙️ FB Structures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

This project is made with ❤️ for automation ⚙️ and robotics 🤖

⚠️ **GitHub.com Fallback** ⚠️

⚠️ GitHub.com Fallback ⚠️