FunctionBlocks Additional MC_CollisionDetectionFB - 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 |
|
ProcessingMode |
ProcessingMode.BUFFERED |
Parameter which determines the behavior towards the previously sent and still active or buffered commands |
M |
|
SequenceFlag |
SequenceFlag.PRIMARY_SEQUENCE |
Defines the target sequence in which the command will be executed |
M |
|
Execute |
- |
Start of the command at the rising 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 |
|
Done |
- |
Command executed successfully |
M |
|
Busy |
- |
Function block is being processed |
M |
|
CommmandBuffered |
- |
Command was transferred to the robot-controller and confirmed |
M |
|
CommandAborted |
- |
The command was aborted by another command |
M |
|
CommandInterrupted |
- |
TRUE, while command is interrupted during execution and can be continued |
M |
CollisionDetectionParCmd
| Parameter | Data Type | Default Value | Description | Required |
|---|---|---|---|---|
ProcessingMode |
- |
Specifies the command execution behavior |
||
ReactionMode |
- |
Defines robot behavior after detecting a collision |
||
ActivateMonitoring |
- |
TRUE = activate collision detection |
||
ThresholdMode |
- |
Defines threshold setting type |
||
Sensitivity |
100 |
Sensitivity level for all axes |
||
SensitivityAxis |
ARRAY[0..6] OF REAL |
100 |
Sensitivity for each robot joint |
|
LimitAxis |
ARRAY[0..6] OF REAL |
- |
Manual torque thresholds per joint |
|
UnitLimitAxis |
- |
Unit for |
||
SequenceFlag |
— |
Defines the target sequence in which the command will be executed |
Declaration
VAR_GLOBAL
/// Robot assignment of function
AxesGroup : AxesGroup;
/// Robot Task
RobotTask : MC_RobotTaskFB;
/// Collision detection
CollisionDetection : MC_CollisionDetectionFB;
END_VARCall
// Call functionblock
CollisionDetection
(
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 : CollisionDetectionParCmd;
END_VAR
VAR_OUTPUT
/// Error ID
ErrorID : DINT;
/// Error addition text
ErrorAddTxt : STRING;
/// Command outputs
OutCmd : CollisionDetectionOutCmd;
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)
CollisionDetection.ParCmd := ParCmd;
// forwarding command output(s)
OutCmd := CollisionDetection.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 CollisionDetection.Busy ) AND
( NOT CollisionDetection.Error ))
THEN
// start execution
CollisionDetection.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 (CollisionDetection.Error)
THEN
ErrorID := CollisionDetection.ErrorID;
ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
END_IF
END_IF
2: // Wait Execution done ?
IF (( NOT CollisionDetection.Busy ) AND
( CollisionDetection.Done ))
THEN
// stop execution
CollisionDetection.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 (CollisionDetection.Error)
THEN
ErrorID := CollisionDetection.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