FunctionBlocks Additional MC_UnitMeasurementFB - ThorstenBrach/SRCI GitHub Wiki

MC_UnitMeasurementFB

📝 Description:

Measure the length of objects in the cartesian space, execution time for specified section of a job or signal output time of a specified signal.

⚙️ 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

[UnitMeasurementParCmd]

-

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

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

OutCmd

[UnitMeasurementOutCmd]

-

Command specific outputs

M

⚙️ FB_Structures:

UnitMeasurementParCmd
Parameter Data Type Default Value Description Required

TriggerMode

TriggerModeMeasurement

-

Defines how the measurement reacts to a trigger signal
At least one mode must be supported

NewMeasurement

BOOL

-

Relevant when TriggerMode = No trigger related behavior
• TRUE: Start or update measurement
• FALSE: No new request

MeasuringMode

MeasuringUnitMode

-

Type of measurement to perform
Changing the mode during an active measurement returns an error
At least one mode must be supported

ListenerID

SINT

-

Trigger function ID:
• 0 (default): Execute immediately
• >0: Wait for corresponding EmitterID trigger
UnitMeasurementOutCmd
Parameter Data Type Default Value Description Required

MeasurementActive

SINT

-

TRUE while the measurement is active

Result

REAL

-

Result of the measurement according to the MeasuringMode

OriginID

INT

-

Unique ID of the action triggered
• >0: Action started via FollowID
• <0: Action stopped via FollowID

InvocationCounter

USINT

—

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

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup       : AxesGroup;
  /// Robot Task
  RobotTask       : MC_RobotTaskFB;
  /// Unit measurement
  UnitMeasurement : MC_UnitMeasurementFB;
END_VAR
Call 
// Call functionblock
UnitMeasurement
(
  Name      := 'SRCI_Robot',
  ExecMode  := ExecutionMode.PARALLEL,
  Priority  := PriorityLevel.NORMAL,
  AxesGroup := AxesGroup
);
Usage 
VAR_INPUT
  /// Enable command
  Enable  : BOOL;
  /// Command parameter
  ParCmd  : UnitMeasurementParCmd;
END_VAR

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

CASE _stepCmd OF

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

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


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