FunctionBlocks AdvancedMove MC_MoveCircularAbsoluteFB - ThorstenBrach/SRCI GitHub Wiki

MC_MoveCircularAbsoluteFB

πŸ“ Description:

Move the TCP to an absolute cartesian position (circular interpolation)

βš™οΈ 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

[MoveCircularAbsoluteParCmd]

-

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

CommmandBuffered

BOOL

-

Command was transferred to the robot-controller and confirmed

M

OutCmd

[MoveCircularAbsoluteOutCmd]

-

Command specific outputs

M

βš™οΈ FB Structures:

MoveCircularAbsoluteParCmd
Parameter Data Type Default Value Description Required

CircMode

CircMode

-

Specifies the meaning of the input parameter AuxPoint

M

AuxPoint

RobotCartesianPosition

-

Auxiliary position used for circle path calculation

M

CircPlane

CircPlane

-

Specifies the circle’s plane (used if CircMode = 2)

M

Tolerance

REAL

-

Deviation tolerance for distances to circle center (used with CircMode = 1)
If exceeded, command fails

M

EndPoint

RobotCartesianPosition

-

Absolute end position (ignored if CircMode = 2)

M

Angle

REAL

-

Circular angle (used only if CircMode = 2);
Defines end position together with center and start
Always positive

M

PathChoice

PathChoice

-

Choice of the path (e.g., short or long arc)

M

VelocityRate

REAL

-

TCP velocity in % of nominal velocity
β€’ <0% (default): Use default velocity
β€’ 0%: Use internal minimal velocity
β€’ 100%: Use maximal reference velocity

M

AccelerationRate

REAL

-

Acceleration in % of nominal acceleration
β€’ <0% (default): Use default acceleration
β€’ 0%: Use internal minimal acceleration
β€’ 100%: Use maximal reference acceleration

M

DecelerationRate

REAL

-

Deceleration in % of nominal deceleration
β€’ <0% (default): Use default deceleration
β€’ 0%: Use internal minimal deceleration
β€’ 100%: Use maximal reference deceleration

M

JerkRate

REAL

-

Jerk in % of nominal jerk
β€’ <0% (default): Use default jerk
β€’ 0%: Use internal minimal jerk
β€’ 100%: Use maximal reference jerk

M

ToolNo

USINT

-

Index of tool
β€’ 0: Flange (default)
β€’ 1..254: Tool frames

M

FrameNo

USINT

-

Index of frame
β€’ 0: WCS (default)
β€’ 1..254: User frames

M

BlendingMode

BlendingMode

-

Transition behavior to the next command
Options include exact stop and blending

M

BlendingParameter

ARRAY [0..1] OF REAL

[10, 0]

Defines blending parameters such as velocity limit or radius

M

MoveTime

TIME

-

Overrides velocity if > 0; specifies total motion duration
RC may return error if time is violated

M

OriMode

OriMode

-

Defines orientation interpolation (RX, RY, RZ) behavior

M

ConfigMode

ArmConfigParameter

-

Defines usage of the config byte inside the position

M

TurnMode

TurnTurnModeMode

-

Defines usage of the TurnNumber byte inside the position

M

Manipulation

BOOL

-

TRUE = allow manipulation of this command

M

EmitterID

ARRAY [0..3] OF SINT

-

ID of Action triggered by this command
β€’ >0: Start Action
β€’ <0: Stop Action
β€’ 0: No trigger (default)

M
MoveCircularAbsoluteOutCmd
Parameter Data Type Default Value Description Required

RemainingDistance

REAL

-

Distance-to-go of the current job.
β€’ -1: No valid value (not active or unsupported)
β€’ >0: Distance between current and target
β€’ 0: Target position reached

M

Progress

REAL

-

Percentage of already traversed distance of current job.
If not supported: β€’ -1

M

FollowID

DINT

-

Unique system-generated ID of the trigger function when the function is called by the user.

M

⏳ Timing Diagram:

Work in progress – more content coming soon.

πŸ“‹ Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup            : AxesGroup;
  /// Robot Task
  RobotTask            : MC_RobotTaskFB;
  /// Move circular absolute
  MoveCircularAbsolute : MC_MoveCircularAbsoluteFB;
END_VAR
Call 
// Call functionblock
MoveCircularAbsolute
(
  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  : MoveCircularAbsoluteParCmd;
END_VAR

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

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

πŸ’‘ Additional Information:

Work in progress – more content coming soon.

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