FunctionBlocks Calculation MC_LoadMeasurementAutomaticFB - ThorstenBrach/SRCI GitHub Wiki

MC_LoadMeasurementAutomaticFB

📝 Description:

Automatic detection of load data.

⚙️ 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.PARALLEL

Execution mode of the command

M

Priority

PriorityLevel

PriorityLevel.NORMAL

Priority of the command

M

Execute

BOOL

-

Start of the command at the rising edge

M

ParCmd

[LoadMeasurementAutomaticParCmd]

-

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

[LoadMeasurementAutomaticOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

LoadMeasurementAutomaticParCmd
Parameter Data Type Default Value Description Required

Mode

LoadMeasurementMode

-

Method used to measure the load data

Mass

REAL

-

Expected mass of the load in kg

Area_J3

ARRAY[0..1] OF REAL

-

Allowed motion range for Joint 3
Only used in Mode = 0 or 2

Area_J4

ARRAY[0..1] OF REAL

-

Allowed motion range for Joint 4
Only used in Mode = 0 or 2

Area_J5

ARRAY[0..1] OF REAL

-

Allowed motion range for Joint 5
Only used in Mode = 0 or 2

Area_J6

ARRAY[0..1] OF REAL

-

Allowed motion range for Joint 6
Only used in Mode = 0 or 2

Position_1

RobotJointPosition

-

First robot joint position for measurement
Used in Mode = 0 or 1

Position_2

RobotJointPosition

-

Second robot joint position for measurement
Used in Mode = 3

ConfigurationAngle

REAL

-

Configuration angle for measurement
Used only in Mode = 1
LoadMeasurementAutomaticOutCmd
Parameter Data Type Default Value Description Required

MeasuringID

UINT

-

Unique ID of the executed measurement

LoadData

LoadData

-

Resulting load data

LoadDataAvailable

BOOL

-

TRUE = valid load data available
FALSE = no valid data returned

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup                : AxesGroup;
  /// Robot Task
  RobotTask                : MC_RobotTaskFB;
  /// Load measurement automatic
  LoadMeasurementAutomatic : MC_LoadMeasurementAutomaticFB;
END_VAR
Call 
// call function block
LoadMeasurementAutomatic
(
  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  : LoadMeasurementAutomaticParCmd;
END_VAR

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

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