FunctionBlocks AdvancedMove MC_MovePickPlaceDirectFB - ThorstenBrach/SRCI GitHub Wiki
Commands interpolated movement of robot arm on a partly undefined path from actual position.
VAR_INPUT
Parameter | Data Type | Default Value | Description | Required |
---|---|---|---|---|
InternalLogger |
- |
For internal usage only |
- |
|
ExternalLogger |
- |
For internal usage only |
- |
|
LogLevel |
- |
For internal usage only |
- |
|
Name |
- |
User defined command name |
O |
|
ExecMode |
ExecutionMode.SEQUENCE_PRIMARY |
Execution mode of the command |
M |
|
Priority |
PriorityLevel.NORMAL |
Priority of the command |
M |
|
AbortingMode |
AbortingMode.BUFFER |
Parameter which determines the behavior towards the previously sent and still active or buffered commands |
M |
|
SequenceFlag |
SequenceFlag.PRIMARY_SEQUENCE |
Defines the target sequence in which the command will be executed |
M |
|
Execute |
- |
Start of the command at the rising edge |
M |
|
ParCmd |
- |
Command specific parameter |
M |
VAR_INPUT
Parameter | Data Type | Default Value | Description | Required |
---|---|---|---|---|
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 |
- |
Error occurred during execution. See ErrorID for details |
M |
|
ErrorID |
- |
Error ID as raw value for error diagnosis |
M |
|
ErrorIDEnum |
- |
Error ID as enumeration for error diagnosis |
M |
|
ErrorAddTxt |
- |
Additional error text information |
M |
|
WarningID |
- |
Warning ID as raw value for identifying warnings |
M |
|
WarningIDEnum |
- |
Warning ID as enumeration for identifying warning |
M |
|
InfoID |
- |
Info ID for as raw value for identifying additional information |
M |
|
InfoIDEnum |
- |
Info ID for as enumeration for identifying additional information |
M |
|
Done |
- |
Command executed successfully |
M |
|
Busy |
- |
Function block is being processed |
M |
|
CommmandBuffered |
- |
Command was transferred to the robot-controller and confirmed |
M |
|
OutCmd |
- |
Command specific outputs |
M |
MovePickPlaceDirectParCmd
Parameter | Data Type | Default Value | Description | Required |
---|---|---|---|---|
TargetPosition |
- |
Absolute target coordinates in the selected coordinate system (see ToolNo and FrameNo) |
M |
|
ApproachOffset |
- |
Offset distance of auxiliary position from TargetPosition |
M |
|
DepartOffset |
- |
Offset distance of auxiliary position from actual position |
M |
|
ReferenceType |
- |
Defines type of reference coordinate system of the offset position |
M |
|
VelocityRate |
- |
TCP velocity in % of nominal velocity |
M |
|
AccelerationRate |
- |
Acceleration in % of nominal acceleration |
M |
|
DecelerationRate |
- |
Deceleration in % of nominal deceleration |
M |
|
JerkRate |
- |
Jerk in % of nominal jerk |
M |
|
ToolNo |
- |
Index of tool |
M |
|
FrameNo |
- |
Index of frame |
M |
|
AuxCornerDistance_1 |
- |
Blending sphere radius for first auxiliary position |
M |
|
AuxCornerDistance_2 |
- |
Blending sphere radius for second auxiliary position |
M |
|
MoveTime |
- |
If > 0: overrides velocity and defines duration |
M |
|
OriMode |
- |
Interpolation of RX, RY, RZ during movement |
M |
|
ConfigMode |
- |
Usage of config byte inside the position |
M |
|
BlendingMode |
- |
Transition behavior to next command (e.g., exact stop or blend) |
M |
|
BlendingParameter |
ARRAY [0..1] OF REAL |
[10, 0] |
Defines blending radius or velocity limit |
M |
TurnMode |
- |
Usage of TurnNumber byte inside the position |
M |
|
VelocityCoefficient |
- |
Multiplier for |
M |
|
ReductionRate |
- |
Velocity in % of |
M |
|
Manipulation |
- |
TRUE = allow manipulation via superimposing |
M |
|
EmitterID |
ARRAY [0..3] OF SINT |
- |
ID of Action triggered |
M |
MovePickPlaceDirectOutCmd
Parameter | Data Type | Default Value | Description | Required |
---|---|---|---|---|
Progress |
- |
Percentage of already traversed distance of current job. |
M |
|
RemainingDistance |
- |
Distance-to-go of the current job. |
M |
|
FollowID |
- |
Unique system-generated ID of the trigger function when the function is called by the user. |
M |
Declaration
VAR_GLOBAL
/// Robot assignment of function
AxesGroup : AxesGroup;
/// Robot Task
RobotTask : MC_RobotTaskFB;
/// Move pick place direct
MovePickPlaceDirect : MC_MovePickPlaceDirectFB;
END_VAR
Call
// Call functionblock
MovePickPlaceDirect
(
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 : MovePickPlaceDirectParCmd;
END_VAR
VAR_OUTPUT
/// Error ID
ErrorID : DINT;
/// Error addition text
ErrorAddTxt : STRING;
/// Command outputs
OutCmd : MovePickPlaceDirectOutCmd;
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)
MovePickPlaceDirect.ParCmd := ParCmd;
// forwarding command output(s)
OutCmd := MovePickPlaceDirect.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 MovePickPlaceDirect.Busy ) AND
( NOT MovePickPlaceDirect.Error ))
THEN
// start execution
MovePickPlaceDirect.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 (MovePickPlaceDirect.Error)
THEN
ErrorID := MovePickPlaceDirect.ErrorID;
ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
END_IF
END_IF
2: // Wait Execution done ?
IF (( NOT MovePickPlaceDirect.Busy ) AND
( MovePickPlaceDirect.Done ))
THEN
// stop execution
MovePickPlaceDirect.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 (MovePickPlaceDirect.Error)
THEN
ErrorID := MovePickPlaceDirect.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