FunctionBlocks AdvancedMove MC_MoveDirectRelativeFB - ThorstenBrach/SRCI GitHub Wiki

MC_MoveDirectRelativeFB

📝 Description:

Move Joints relative to relative cartesian position (Relative cartesian PTP) (Joint interpolated movement).

⚙️ 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

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

[MoveDirectRelativeParCmd]

-

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

[MoveDirectRelativeOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

MoveDirectRelativeParCmd
Parameter Data Type Default Value Description Required

Distance

RobotCartesianPosition

-

Relative distance and rotation from the current or last target position to the end point.

M

ReferenceType

ReferenceType

-

Defines type of reference coordinate system of the offset position.

M

VelocityRate

REAL

-

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

M

AccelerationRate

REAL

-

Acceleration for movement in % of nominal acceleration
• <0% (default): Use default acceleration
• 0%: Use internal minimal acceleration
• 100%: Use maximal reference acceleration

M

DecelerationRate

REAL

-

Deceleration for movement in % of nominal deceleration
• <0% (default): Use default deceleration
• 0%: Use internal minimal deceleration
• 100%: Use maximal reference deceleration

M

JerkRate

REAL

-

Jerk of the movement in % of nominal jerk
• <0% (default): Use default jerk
• 0%: Use internal minimal jerk
• 100%: Use maximal reference jerk

M

ToolNo

USINT

-

Index of tool
• 0: Flange (default)
• 1..254: Tool frames

M

FrameNo

USINT

-

Index of frame
• 0: WCS (default)
• 1..254: User frames

M

BlendingMode

BlendingMode

-

Determines transition behavior to the next command
Options include exact stop or blend types

M

BlendingParameter

ARRAY [0..1] OF REAL

[10, 0]

Additional parameter for blending mode (e.g., velocity limit % or blending radius)

M

MoveTime

TIME

-

Overrides velocity if > 0 and defines movement duration
RC may send error if timing cannot be met

M

ConfigMode

ArmConfigParameter

-

Usage of config byte inside position

M

TurnMode

TurnMode

-

Usage of TurnNumber byte inside the position

M

Manipulation

BOOL

-

TRUE = allows manipulation via superimposing functions

M

EmitterID

ARRAY [0..3] OF SINT

-

ID of Action to trigger during this command
• >0: Start Action
• <0: Stop Action
• 0: No trigger (default)

M
MoveDirectRelativeOutCmd
Parameter Data Type Default Value Description Required

Progress

REAL

-

Percentage of already traversed distance of current job.
If not supported: • -1

M

RemainingDistance

REAL

-

Distance-to-go of the current job.
• -1: Not active or unsupported
• >0: Distance between current and target
• 0: Target position reached

M

FollowID

DINT

-

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

M

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup          : AxesGroup;
  /// Robot Task
  RobotTask          : MC_RobotTaskFB;
  /// Move direct relative
  MoveDirectRelative : MC_MoveDirectRelativeFB;
END_VAR
Call 
// Call functionblock
MoveDirectRelative
(
  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  : MoveDirectRelativeParCmd;
END_VAR

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

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