FunctionBlocks BasicMove MC_GroupJogFB - ThorstenBrach/SRCI GitHub Wiki

MC_GroupJogFB

πŸ“ Description:

Jog robot manually.

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_SECONDARY

Execution mode of the command

M

Priority

PriorityLevel

PriorityMode.NORMAL

Priority of the command

M

Enable

BOOL

-

Enable / Disable the command at rising / falling edge

M

ParCmd

[GroupJogParCmd]

-

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

Enabled

BOOL

-

Command enabled successfully

M

Busy

BOOL

-

Function block is being processed

M

CommmandBuffered

BOOL

-

Command was transferred to the robot-controller and confirmed

M

OutCmd

[GroupJogOutCmd]

-

Command specific outputs

M

βš™οΈ FB Structures:

GroupJogParCmd
Parameter Data Type Default Value Description Required

Mode

JogMode

-

Specifies in which mode the robot is jogged

M

Override

UINT

5%

Velocity in % of monitoring or reference speed, je nach Betriebsmodus
β€’ 0%: No movement
β€’ 10%: Default
β€’ ≀100%: Use specified value

M

Control

JogControl

-

Change to jog and define direction according to Mode

M

ToolNo

USINT

-

Index of tool (for Mode 0: JogFrame, and Mode 1: JogTool)
β€’ 0: Flange (default)
β€’ 1..254: Tool frames

M

FrameNo

USINT

-

Index of frame (only for Mode 0: JogFrame)
β€’ 0: WCS (default)
β€’ 1..254: User frames

M

IncrementalTranslation

REAL

-

Increment for translational jogging axes
β€’ 0: Incremental mode OFF (default) – Motion continues until Control is reset or error occurs
β€’ >0: Incremental mode ON – Motion continues until distance is reached or Control is reset or error occurs

M

IncrementalRotation

REAL

-

Increment for rotational jogging axes
β€’ 0: Incremental mode OFF (default) – Motion continues until Control is reset or error occurs
β€’ >0: Incremental mode ON – Motion continues until distance is reached or Control is reset or error occurs

M
GroupJogOutCmd
Parameter Data Type Default Value Description Required

DistanceReached

BOOL

-

Applies when incremental mode is ON:
TRUE when the robot’s TCP or axes have reached the defined distance (IncrementalTranslation or IncrementalRotation)

M

MotionActive

BOOL

-

TRUE when the command has control over the motion of the respective axis group

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;
  /// Group jog
  GroupJog  : MC_GroupJogFB;
END_VAR
Call 
// call function block
GroupJog
(
  Name      := 'SRCI_Robot',
  ExecMode  := ExecutionMode.SEQUENCE_SECONDARY,
  Priority  := PriorityLevel.NORMAL,
  AxesGroup := AxesGroup
);
Usage 
VAR_INPUT
  /// Request enable jog
  Enable : BOOL;
  /// Command parameter
  ParCmd : GroupJogParCmd;
END_VAR

VAR_OUTPUT
  /// Error ID
  ErrorID     : DINT;
  /// Error addition text
  ErrorAddTxt : STRING;
  /// Results
  OutCmd      : GroupJogOutCmd;
END_VAR

VAR
  /// internal step counter
 _stepCmd    : DINT;
  /// internal timer for command
 _timerCmd   : TON;
  /// internal timeout for command
 _timeoutCmd : TIME := T#5S;
END_VAR
GroupJog.ParCmd := ParCmd;
OutCmd         := GroupJog.OutCmd;

CASE _stepCmd OF

  0: // Enable or disable function ?
     IF (( Enable           ) XOR
         ( GroupJog.Enabled ))
     THEN
       // set timeout
       SetTimeout(PT := _timeoutCmd, rTimer := _timerCmd);
       // inc step counter
      _stepCmd := _stepCmd + 1;
     END_IF

  1: // Start Execution
     IF (( NOT GroupJog.Busy  ) AND
         ( NOT GroupJog.Error ))
     THEN
       // enable/disable jogging
       GroupJog.Enable := Enable;
       // 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 (GroupJog.Error)
       THEN
         ErrorID     := GroupJog.ErrorID;
         ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
       END_IF
     END_IF


  2: // Wait Execution done ?
     IF (( NOT GroupJog.Busy                    ) AND
         (     GroupJog.Enabled = Enable ))
     THEN
       // 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 (EnableRobot.Error)
       THEN
         ErrorID     := EnableRobot.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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