FunctionBlocks Additional MC_AvoidSingularityFB - ThorstenBrach/SRCI GitHub Wiki
VAR_INPUT
Parameter | Data Type | Default Value | Description | Required |
---|---|---|---|---|
InternalLogger |
- |
For internal usage only |
- |
|
ExternalLogger |
- |
For internal usage only |
- |
|
LogLevel |
- |
For internal usage only |
- |
|
Name |
- |
User defined command name |
O |
|
ExecMode |
ExecutionMode.SEQUENCE_PRIMARY |
Execution mode of the command |
M |
|
Priority |
PriorityLevel.NORMAL |
Priority of the command |
M |
|
Enable |
- |
Enable / Disable the command at rising / falling edge |
M |
|
ParCmd |
- |
Command specific parameter |
M |
VAR_IN_OUT
Parameter | Data Type | Default Value | Description | Required |
---|---|---|---|---|
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 |
- |
Error occurred during execution. See ErrorID for details |
M |
|
ErrorID |
- |
Error ID as raw value for error diagnosis |
M |
|
ErrorIDEnum |
- |
Error ID as enumeration for error diagnosis |
M |
|
ErrorAddTxt |
- |
Additional error text information |
M |
|
WarningID |
- |
Warning ID as raw value for identifying warnings |
M |
|
WarningIDEnum |
- |
Warning ID as enumeration for identifying warning |
M |
|
InfoID |
- |
Info ID for as raw value for identifying additional information |
M |
|
InfoIDEnum |
- |
Info ID for as enumeration for identifying additional information |
M |
|
Enabled |
- |
Command enabled successfully |
M |
|
Busy |
- |
Function block is being processed |
M |
|
CommmandBuffered |
- |
Command was transferred to the robot-controller and confirmed |
M |
|
ParameterAccepted |
- |
Receiving of input parameter values has been acknowledged by RC |
M |
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