FunctionBlocks ConveyorTracking MC_ActivateConveyorTrackingFB - ThorstenBrach/SRCI GitHub Wiki

MC_ActivateConveyorTrackingFB

📝 Description:

Activate conveyor tracking mode.

⚙️ 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.CONTINUOUS

Execution mode of the command

M

Priority

PriorityLevel

PriorityLevel.NORMAL

Priority of the command

M

Enable

BOOL

-

Enable / Disable the command at rising / falling edge

M

ParCmd

[ActivateConveyorTrackingParCmd]

-

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

Valid

BOOL

-

TRUE while the following outputs return valid values:
• TrackingStatusByte
• RCEncoderValue

M

Busy

BOOL

-

Function block is being processed

M

CommmandBuffered

BOOL

FALSE

Command was transferred to the robot-controller and confirmed

M

ParameterAccepted

BOOL

FALSE

Receiving of input parameter values has been acknowledged by RC

M

OutCmd

[ActivateConveyorTrackingOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

ActivateConveyorTrackingParCmd
Parameter Data Type Default Value Description Required

ConveyorNo

SINT

-

Index of the conveyor to be tracked

ConnectionMode

ConnectionMode

-

Specifies how the encoder is connected
(at least one mode must be supported)

PLCEncoderValue

REAL

-

Encoder value from PLC when ConnectionMode = 1 ("PLC connected")
Ignored in other modes
ActivateConveyorTrackingOutCmd
Parameter Data Type Default Value Description Required

TrackingStatus

TrackingStatus

-

Current status of the conveyor tracking

RCEncoderValue

REAL

-

Traveled distance of the conveyor since activation
Only valid if ConnectionMode = 1 ("RC connected")

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup                : AxesGroup;
  /// Robot Task
  RobotTask                : MC_RobotTaskFB;
  /// Activate conveyor tracking
  ActivateConveyorTracking : MC_ActivateConveyorTrackingFB;
END_VAR
Call 
// call function block
ActivateConveyorTracking
(
  Name         := 'SRCI_Robot',
  ExecMode     := ExecutionMode.CONTINUOUS,
  Priority     := PriorityLevel.NORMAL,
  AxesGroup    := AxesGroup
);
Usage 
VAR_INPUT
  /// Enable command
  Enable : BOOL;
  /// Command parameter
  ParCmd : ActivateConveyorTrackingParCmd;
END_VAR

VAR_OUTPUT
  /// Error ID
  ErrorID     : DINT;
  /// Error addition text
  ErrorAddTxt : STRING;
  /// Configuration
  OutCmd      : ActivateConveyorTrackingOutCmd;
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)
ActivateConveyorTracking.ParCmd := ParCmd;
// forwarding command output(s)
OutCmd := ActivateConveyorTracking.OutCmd;

CASE _stepCmd OF

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

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


  2: // Wait Execution done ?
     IF (( NOT ActivateConveyorTracking.Busy                    ) AND
         (     ActivateConveyorTracking.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 (ActivateConveyorTracking.Error)
       THEN
         ErrorID     := ActivateConveyorTracking.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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