MC_MoveLinearOffsetFB

Quick Links :

📝 Description:
⚙️ FB Variables:
⚙️ FB_Structures:
⏳ Timing Diagram:
📋 Examples:
💡 Additional Information:

📝 Description:

Move the TCP relative to a reference cartesian position (linear interpolation).

⚙️ 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	[MoveLinearOffsetParCmd]	-	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	[MoveLinearOffsetOutCmd]	-	Command specific outputs	M

⚙️ FB_Structures:

MoveLinearOffsetParCmd

Parameter	Data Type	Default Value	Description	Required
ReferencePosition	RobotCartesianPosition	-	Absolute reference coordinates in the selected coordinate system (see ToolNo and FrameNo)	M
Offset	RobotCartesianPosition	-	Relative distance and rotation from ReferencePosition	M
ReferenceType	ReferenceType	-	Defines type of reference coordinate system of the offset position	M
VelocityRate	REAL	-	TCP velocity in % of nominal velocity • <0%: Use default velocity (default) • 0%: Use internal minimal velocity • 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 • 0: Flange (default) • 1..254: Tool frames	M
FrameNo	USINT	-	Index of frame • 0: WCS (default) • 1..254: User frames	M
BlendingMode	BlendingMode	-	Transition behavior to next command (exact stop or blend)	M
BlendingParameter	ARRAY [0..1] OF REAL	[10, 0]	Defines velocity limit or blending radius	M
MoveTime	TIME	-	If > 0: overrides velocity and defines duration RC may return error if constraint is violated	M
OriMode	OriMode	-	Orientation interpolation mode (RX, RY, RZ)	M
ConfigMode	ArmConfigParameter	-	Usage of config byte in the position	M
TurnMode	TurnMode	-	Usage of TurnNumber byte in the position	M
Manipulation	BOOL	-	TRUE = allow manipulation via superimposing	M
EmitterID	ARRAY [0..3] OF SINT	-	ID of Action triggered • >0: Start Action • <0: Stop Action • 0: No trigger (default)	M

MoveLinearOffsetOutCmd

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: No valid value (not yet 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 the function is 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 linear offset
  MoveLinearOffset : MC_MoveLinearOffsetFB;
END_VAR

Call

// Call functionblock
MoveLinearOffset
(
  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  : MoveLinearOffsetParCmd;
END_VAR

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

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

FunctionBlocks AdvancedMove MC_MoveLinearOffsetFB - ThorstenBrach/SRCI GitHub Wiki

MC_MoveLinearOffsetFB

📝 Description:

⚙️ FB Variables:

⚙️ FB_Structures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

This project is made with ❤️ for automation ⚙️ and robotics 🤖

⚠️ GitHub.com Fallback ⚠️

FunctionBlocks AdvancedMove MC_MoveLinearOffsetFB - ThorstenBrach/SRCI GitHub Wiki

MC_MoveLinearOffsetFB

📝 Description:

⚙️ FB Variables:

⚙️ FB_Structures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

This project is made with ❤️ for automation ⚙️ and robotics 🤖

⚠️ **GitHub.com Fallback** ⚠️

⚠️ GitHub.com Fallback ⚠️