FunctionBlocks Additional MC_AvoidSingularityFB - ThorstenBrach/SRCI GitHub Wiki

MC_AvoidSingularityFB

📝 Description:

Activate/Deactivate functionality to avoid singularities.

⚙️ 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

Enable

BOOL

-

Enable / Disable the command at rising / falling edge

M

ParCmd

[AvoidSingularityParCmd]

-

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

Enabled

BOOL

-

Command enabled successfully

M

Busy

BOOL

-

Function block is being processed

M

CommmandBuffered

BOOL

-

Command was transferred to the robot-controller and confirmed

M

ParameterAccepted

BOOL

-

Receiving of input parameter values has been acknowledged by RC

M

⚙️ FB Structures:

AvoidSingularityParCmd
Parameter Data Type Default Value Description Required

Mode

SingularityAvoidanceMode

-

Defines how the robot should avoid singularities

Yes

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup        : AxesGroup;
  /// Robot Task
  RobotTask        : MC_RobotTaskFB;
  /// Avoid singularity
  AvoidSingularity : MC_AvoidSingularityFB;
END_VAR
Call 
// Call functionblock
AvoidSingularity
(
  Name      := 'SRCI_Robot',
  ExecMode  := ExecutionMode.PARALLEL,
  Priority  := PriorityLevel.NORMAL,
  AxesGroup := AxesGroup
);
Usage 
VAR_INPUT
  /// Enable command
  Enable  : BOOL;
  /// Command parameter
  ParCmd  : AvoidSingularityParCmd;
END_VAR

VAR_OUTPUT
  /// Error ID
  ErrorID     : DINT;
  /// Error addition text
  ErrorAddTxt : STRING;
  /// Command outputs
  OutCmd      : AvoidSingularityOutCmd;
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)
AvoidSingularity.ParCmd := ParCmd;
// forwarding command output(s)
OutCmd := AvoidSingularity.OutCmd;

CASE _stepCmd OF

  0: // Enable or disable function ?
     IF (( Enable                   ) XOR
         ( AvoidSingularity.Enabled ))
     THEN
       // set timeout
       SetTimeout(PT := _timeoutCmd, rTimer := _timerCmd);
       // inc step counter
      _stepCmd := _stepCmd + 1;
     END_IF

  1: // Start Execution
     IF (( NOT AvoidSingularity.Busy  ) AND
         ( NOT AvoidSingularity.Error ))
     THEN
       // enable/disable exchange configuration
       AvoidSingularity.Enable := Enable;
       // 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 (AvoidSingularity.Error)
       THEN
         ErrorID     := AvoidSingularity.ErrorID;
         ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
       END_IF
     END_IF


  2: // Wait Execution done ?
     IF (( NOT AvoidSingularity.Busy                    ) AND
         (     AvoidSingularity.Enabled = Enable ))
     THEN
       // 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 (AvoidSingularity.Error)
       THEN
         ErrorID     := AvoidSingularity.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.

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