FunctionBlocks AdvancedMove MC_MovePickPlaceDirectFB - ThorstenBrach/SRCI GitHub Wiki

MC_MovePickPlaceDirectFB

📝 Description:

Commands interpolated movement of robot arm on a partly undefined path from actual position.

⚙️ 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

[MovePickPlaceDirectParCmd]

-

Command specific parameter

M
VAR_INPUT
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

[MovePickPlaceDirectOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

MovePickPlaceDirectParCmd
Parameter Data Type Default Value Description Required

TargetPosition

RobotCartesianPosition

-

Absolute target coordinates in the selected coordinate system (see ToolNo and FrameNo)

M

ApproachOffset

AuxOffset

-

Offset distance of auxiliary position from TargetPosition

M

DepartOffset

AuxOffset

-

Offset distance of auxiliary position from actual position

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 (default)
• 0%: Internal minimal velocity
• 100%: 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

AuxCornerDistance_1

REAL

-

Blending sphere radius for first auxiliary position
0 = exact stop

M

AuxCornerDistance_2

REAL

-

Blending sphere radius for second auxiliary position
0 = exact stop

M

MoveTime

TIME

-

If > 0: overrides velocity and defines duration
Error if time constraint is violated

M

OriMode

OriMode

-

Interpolation of RX, RY, RZ during movement

M

ConfigMode

ArmConfigParameter

-

Usage of config byte inside the position

M

BlendingMode

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

TurnMode

-

Usage of TurnNumber byte inside the position

M

VelocityCoefficient

REAL

-

Multiplier for VelocityRate to define velocity of linear segments
0 = min velocity, 1 = same as VelocityRate

M

ReductionRate

REAL

-

Velocity in % of VelocityRate for linear motions
0% = min velocity, 100% = full velocity

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
MovePickPlaceDirectOutCmd
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 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

💡 Additional Information:

Work in progress – more content coming soon.

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