FunctionBlocks AdvancedMove MC_MoveCircularRelativeFB - ThorstenBrach/SRCI GitHub Wiki

MC_MoveCircularRelativeFB

πŸ“ Description:

Move the TCP relative to the actual 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

[MoveCircularRelativeParCmd]

-

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

[MoveCircularRelativeOutCmd]

-

Command specific outputs

M

βš™οΈ FB Structures:

MoveCircularRelativeParCmd
Parameter Data Type Default Value Description Required

CircMode

CircMode

-

Specifies the meaning of the input parameter AuxPoint

M

AuxPoint

RobotCartesianPosition

-

Auxiliary position used for circular path calculation

M

CircPlane

CircPlane

-

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

M

Tolerance

REAL

-

Deviation tolerance for center distances (used with CircMode = 1)
If exceeded, command returns an error

M

EndPoint

RobotCartesianPosition

-

Absolute end position (ignored if CircMode = 2)

M

Angle

REAL

-

Circular angle (used only if CircMode = 2)
Always positive

M

PathChoice

PathChoice

-

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

M

ReferenceType

ReferenceType

-

Defines the coordinate system reference for relative calculation

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

M

DecelerationRate

REAL

-

Deceleration in % of nominal deceleration

M

JerkRate

REAL

-

Jerk in % of nominal 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

-

Defines the transition behavior to the next command

M

BlendingParameter

ARRAY [0..1] OF REAL

[10, 0]

Defines blending radius or velocity limit

M

MoveTime

TIME

-

Overrides velocity if > 0
Defines total duration of the move
RC sends error if time cannot be kept

M

OriMode

OriMode

-

Defines interpolation of orientation axes (RX, RY, RZ)

M

ConfigMode

ArmConfigParameter

-

Defines usage of the config byte inside the position

M

TurnMode

TurnMode

-

Defines usage of TurnNumber byte inside the position

M

Manipulation

BOOL

-

TRUE = allows manipulation via superimposing

M

EmitterID

ARRAY [0..3] OF SINT

-

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

M
MoveCircularRelativeOutCmd
Parameter Data Type Default Value Description Required

Progress

REAL

-

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

M

RemainingDistance

REAL

-

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

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 relative
  MoveCircularRelative : MC_MoveCircularRelativeFB;
END_VAR
Call 
// Call functionblock
MoveCircularRelative
(
  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  : MoveCircularRelativeParCmd;
END_VAR

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

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

This project is made with ❀️ for automation βš™οΈ and robotics πŸ€–

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