MC_ReturnToPrimaryFB

Quick Links :

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

📝 Description:

Return to path left during active interrupt.

⚙️ 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	PriorityMode.NORMAL	Priority of the command	M
Enable	BOOL	FALSE	Enable / Disable the command at rising / falling edge	M
ParCmd	[ReturnToPrimaryParCmd]	FALSE	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	[ReturnToPrimaryOutCmd]	-	Command specific outputs	M

⚙️ FB Structures:

ReturnToPrimaryParCmd

Parameter	Data Type	Default Value	Description	Required
ReturnMode	ReturnMode	-	Defines target position when function is executed: • 0: Interrupt position (default) – Returns to position active when interrupt was executed • 1: End position – Returns to target position of interrupted segment	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 • <0%: Use default acceleration (default) • 0%: Use internal minimal acceleration • 100%: Use maximal reference acceleration	M
DecelerationRate	REAL	-	Deceleration in % of nominal deceleration • <0%: Use default deceleration (default) • 0%: Use internal minimal deceleration • 100%: Use maximal reference deceleration	M
JerkRate	REAL	-	Jerk in % of nominal jerk • <0%: Use default jerk (default) • 0%: Use internal minimal jerk • 100%: Use maximal reference jerk	M
ToolNo	USINT	-	Tool index • 0: Flange (default) • 1..254: Tool frames	M
FrameNo	USINT	-	Frame index • 0: WCS (default) • 1..254: User frames	M
DistanceLimit	REAL	-	Used if >0 (default). Maximum allowed distance between current and target position per `ReturnMode`. Error returned if exceeded	M
TrajectoryMode	TrajectoryMode	-	Defines type of movement command. One of the optional modes must be supported	M
MoveTime	TIME	-	Used if >0 (default) • Velocity input ignored • Defines fixed time to reach target Error returned if time cannot be held	M
AllowDifferences	BOOL	-	Set `TRUE` to deactivate comparison of: • ToolData and FrameData • ToolNo and PrimaryPosToolNo • FrameNo and PrimaryPosFrameNo	M

ReturnToPrimaryOutCmd

Parameter	Data Type	Default Value	Description	Required
RemainingDistance	REAL	-	Distance-to-go of the current job • -1: No valid value (command not active or not supported) • >0: Actual distance to target position • 0: Target position reached	M
Progress	REAL	-	Percentage of already traversed distance of current job • -1: Not supported	M
PrimaryPosToolNo	USINT	-	Tool index of target position • 0: Flange • 1..254: Tool frames	M
PrimaryPosFrameNo	USINT	-	Frame index of target position • 0: WCS • 1..254: User frames	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;
  /// Return to primary
  ReturnToPrimary : MC_ReturnToPrimaryFB;
END_VAR

Call

// call function block
ReturnToPrimary
(
  Name      := 'SRCI_Robot',
  ExecMode  := ExecutionMode.SEQUENCE_PRIMARY,
  Priority  := PriorityLevel.NORMAL,
  AxesGroup := AxesGroup
);

Usage

VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : ReturnToPrimaryParCmd;
END_VAR

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

  2: // Wait Execution done ?
     IF (( NOT ReturnToPrimary.Busy ) AND
         (     ReturnToPrimary.Done ))
     THEN
       // stop execution
       ReturnToPrimary.Enable := 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 (ReturnToPrimary.Error)
       THEN
         ErrorID     := ReturnToPrimary.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 BasicMove MC_ReturnToPrimaryFB - ThorstenBrach/SRCI GitHub Wiki

MC_ReturnToPrimaryFB

📝 Description:

⚙️ FB Variables:

⚙️ FB Structures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

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

⚠️ GitHub.com Fallback ⚠️

FunctionBlocks BasicMove MC_ReturnToPrimaryFB - ThorstenBrach/SRCI GitHub Wiki

MC_ReturnToPrimaryFB

📝 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 ⚠️