FunctionBlocks Additional MC_CallSubprogramFB - ThorstenBrach/SRCI GitHub Wiki

MC_CallSubprogramFB

📝 Description:

Call subprogram stored in RC from PLC.

⚙️ 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

AbortingMode

AbortingMode

AbortingMode.BUFFER

Parameter which determines the behavior towards the previously sent and still active or buffered commands

M

SequenceFlag

SequenceFlag

SequenceFlag.PRIMARY_SEQUENCE

Defines the target sequence in which the command will be executed

M

Execute

BOOL

-

Start of the command at the rising edge

M

ParCmd

[CallSubprogramParCmd]

-

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

Valid

BOOL

-

TRUE while the output ReturnData returns valid data according to the user defined subprogram

M

CommmandBuffered

BOOL

-

Command was transferred to the robot-controller and confirmed

M

InProgress

BOOL

-

The requested subprogram on the RC is in progress. Movement of the axes trough this subprogram is possible.

M

CommandAborted

BOOL

-

The command was aborted by another command

M

CommandInterrupted

BOOL

-

TRUE, while command is interrupted during execution and can be continued.

M

ParameterAccepted

BOOL

-

Receiving of input parameter values has been acknowledged by RC

M

OutCmd

[CallSubprogramOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

CallSubprogramParCmd
Parameter Data Type Default Value Description Required

JobID

UINT

-

Program number of the subprogram in the RC

ListenerID

SINT

-

ID of associated trigger function:
• 0: No trigger (default)
• >0: Start execution when corresponding EmitterID is triggered
Always positive

Data

ARRAY[0..RobotLibraryParameter.SUB_PROGRAM_DATA_MAX] OF BYTE

-

Acyclic input parameters of the subprogram
Array length adjusts to transmitted data (max 190 bytes)
CallSubprogramOutCmd
Parameter Data Type Default Value Description Required

InstanceID

DINT

-

Unique system-generated ID of the subprogram instance.
Used to stop a specific subprogram instance (see chapter 6.5.21).
Relevant if RC supports multiinstancing.

OriginID

INT

-

System-generated ID of the "Action" when triggered.
• >0: Action started via FollowID
• <0: Action stopped via FollowID

InvocationCounter

USINT

-

Number of successful trigger-based command invocations
Relevant if ListenerID > 0

InProgress

SINT

-

Indicates if the subprogram is currently in progress
Movement of axes is possible

ReturnData

ARRAY[0.. RobotLibraryParameter.SUB_PROGRAM_DATA_MAX] OF BYTE

-

Acyclic output parameters of the subprogram
Array length adjusts to returned data (max 190 bytes)

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup      : AxesGroup;
  /// Robot Task
  RobotTask      : MC_RobotTaskFB;
  /// call sub program
  CallSubprogram : MC_CallSubprogramFB;
END_VAR
Call 
// Call functionblock
CallSubprogram
(
  Name           := 'SRCI_Robot',
  ExecMode       := ExecutionMode.PARALLEL,
  Priority       := PriorityLevel.NORMAL,
  ProcessingMode := ProcessingModeEnum.PARALLEL,
  SequenceFlag   := SequenceFlagEnum.NO_SEQUENCE,
  AxesGroup      := AxesGroup
);
Usage 
VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : CallSubprogramParCmd;
END_VAR

VAR_OUTPUT
  /// Error ID
  ErrorID     : DINT;
  /// Error addition text
  ErrorAddTxt : STRING;
  /// Command outputs
  OutCmd      : CallSubprogramOutCmd;
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)
CallSubprogram.ParCmd := ParCmd;
// forwarding command output(s)
OutCmd := CallSubprogram.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 CallSubprogram.Busy  ) AND
         ( NOT CallSubprogram.Error ))
     THEN
       // start execution
       CallSubprogram.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 (CallSubprogram.Error)
       THEN
         ErrorID     := CallSubprogram.ErrorID;
         ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
       END_IF
     END_IF

  2: // Wait Execution done ?
     IF (( NOT CallSubprogram.Busy ) AND
         (     CallSubprogram.Done ))
     THEN
       // stop execution
       CallSubprogram.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 (CallSubprogram.Error)
       THEN
         ErrorID     := CallSubprogram.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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