MC_SyncToConveyorFB

Quick Links :

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

📝 Description:

Synchronize robot with conveyor.

⚙️ 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
Enable	BOOL	-	Enable / Disable the command at rising / falling edge	M
ParCmd	[SyncToConveyorParCmd]	-	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	0-	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
Active	BOOL	-	The command takes control of the motion of the according axis group	M
CommandAborted	BOOL	-	The command was aborted by another command	M
ParameterAccepted	BOOL	-	Receiving of input parameter values has been acknowledged by RC	M
OutCmd	[SyncToConveyorOutCmd]	-	Command specific outputs	M

⚙️ FB Structures:

SyncToConveyorParCmd

Parameter	Data Type	Default Value	Description
ConveyorNo	USINT	-	Index of assigned conveyor
FrameNo	USINT	-	Index of the UCS assigned to the conveyor
SyncInMode	SyncInMode	-	Defines when synchronization starts
SyncInParameter	REAL	-	Value for synchronization depending on `SyncInMode`: • Distance (mm) if `SyncInMode = 1` • Time (ms) if `SyncInMode = 2`
MaxVelocity	REAL	-	Maximum adjustment velocity for robot to catch up • `0`: no limit (RC internal limit applies) • `>0`: applies as limit
MaxAcceleration	REAL	-	Maximum adjustment acceleration for robot to catch up • `0`: no limit (RC internal limit applies) • `>0`: applies as limit
ListenerID	SINT	-	ID of associated trigger function • `0`: no trigger (default) • `>0`: triggered execution (EmitterID must match)

SyncToConveyorOutCmd

Parameter	Data Type	Default Value	Description
InvocationCounter	USINT	-	Number of successful trigger-based command invocations Relevant only if `ListenerID > 0`
Reserve	BYTE	-	Reserved for future use
OriginID	INT	-	Unique system-generated ID of the "Action" when the function is triggered • >0: Action started by matching FollowID • <0: Action stopped by matching FollowID
InSync	BOOL	-	TRUE if the TCP is currently synchronized with the object on the conveyor belt

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration

VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup           : AxesGroup;
  /// Robot Task
  RobotTask           : MC_RobotTaskFB;
  /// Synchronize to conveyor
  SyncToConveyor : MC_SyncToConveyorFB;
END_VAR

Call

// call function block
SyncToConveyor
(
  Name           := 'SRCI_Robot',
  ExecMode       := ExecutionMode.PARALLEL,
  ProcessingMode := ProcessingMode.TRIGGER_ONCE,
  Priority       := PriorityLevel.NORMAL,
  AxesGroup      := AxesGroup
);

Usage

VAR_INPUT
  /// Enable command
  Enable  : BOOL;
  /// Command parameter
  ParCmd  : SyncToConveyorParCmd;
END_VAR

VAR_OUTPUT
  /// Error ID
  ErrorID     : DINT;
  /// Error addition text
  ErrorAddTxt : STRING;
  /// Command outputs
  OutCmd      : SyncToConveyorOutCmd;
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)
SyncToConveyor.ParCmd := ParCmd;
// forwarding command output(s)
OutCmd := SyncToConveyor.OutCmd;

CASE _stepCmd OF

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

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


  2: // Wait Execution done ?
     IF (( NOT SyncToConveyor.Busy                    ) AND
         (     SyncToConveyor.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 (SyncToConveyor.Error)
       THEN
         ErrorID     := SyncToConveyor.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 ConveyorTracking MC_SyncToConveyorFB - ThorstenBrach/SRCI GitHub Wiki

MC_SyncToConveyorFB

📝 Description:

⚙️ FB Variables:

⚙️ FB Structures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

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

⚠️ GitHub.com Fallback ⚠️

FunctionBlocks ConveyorTracking MC_SyncToConveyorFB - ThorstenBrach/SRCI GitHub Wiki

MC_SyncToConveyorFB

📝 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 ⚠️