FunctionBlocks Additional MC_SoftSwitchTcpFB - 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 |
|
AbortingMode |
- |
Parameter which determines the behavior towards the previously sent and still active or buffered commands |
M |
|
SequenceFlag |
- |
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_INPUT
| 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 |
|
Active |
- |
The command "SoftSwitchTCP" takes control of the according axis group |
M |
|
CommandAborted |
- |
The command was aborted by another command |
M |
|
CommandInterrupted |
- |
TRUE, while command is interrupted during execution and can be continued |
M |
|
OutCmd |
- |
Command specific outputs |
M |
SoftSwitchTcpParCmd
| Parameter | Data Type | Default Value | Description | Required |
|---|---|---|---|---|
ReferenceType |
- |
Defines the reference coordinate system for compliant movement |
||
ReferenceNo |
- |
Index of tool or frame according to ReferenceType |
||
CompliantAxes |
- |
Enables compliant movement for selected Cartesian axes |
||
LimitMode |
- |
Defines which parameters limit the compliant space |
||
ResistanceForceMode |
- |
Type of resistance force applied during compliant movement |
||
ResistanceForceTCP |
100 |
Overall resistance level if |
||
ResistanceForceAxis |
ARRAY[0..5] OF REAL |
100 |
Axis-specific resistance level if |
|
VectorData |
ARRAY[0..5] OF REAL |
- |
Limit values (min/max) for Cartesian axes |
Declaration
VAR_GLOBAL
/// Robot assignment of function
AxesGroup : AxesGroup;
/// Robot Task
RobotTask : MC_RobotTaskFB;
/// Soft switch Tcp
SoftSwitchTcp : MC_SoftSwitchTcpFB;
END_VARCall
// Call functionblock
SoftSwitchTcp
(
Name := 'SRCI_Robot',
ExecMode := ExecutionMode.SEQUENCE_PRIMARY,
Priority := PriorityLevel.NORMAL,
AbortingMode := AbortingModeEnum.BUFFER,
SequenceFlag := SequenceFlagEnum.PRIMARY_SEQUENCE,
AxesGroup := AxesGroup
);Usage
VAR_INPUT
/// Start command execution
Execute : BOOL;
/// Command parameter
ParCmd : SoftSwitchTcpParCmd;
END_VAR
VAR_OUTPUT
/// Error ID
ErrorID : DINT;
/// Error addition text
ErrorAddTxt : STRING;
/// Command outputs
OutCmd : SoftSwitchTcpOutCmd;
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)
SoftSwitchTcp.ParCmd := ParCmd;
// forwarding command output(s)
OutCmd := SoftSwitchTcp.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 SoftSwitchTcp.Busy ) AND
( NOT SoftSwitchTcp.Error ))
THEN
// start execution
SoftSwitchTcp.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 (SoftSwitchTcp.Error)
THEN
ErrorID := SoftSwitchTcp.ErrorID;
ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
END_IF
END_IF
2: // Wait Execution done ?
IF (( NOT SoftSwitchTcp.Busy ) AND
( SoftSwitchTcp.Done ))
THEN
// stop execution
SoftSwitchTcp.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 (SoftSwitchTcp.Error)
THEN
ErrorID := SoftSwitchTcp.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