FunctionBlocks ForceControl MC_ForceControlFB - ThorstenBrach/SRCI GitHub Wiki

MC_ForceControlFB

πŸ“ Description:

Enables the RC to apply user defined force/ torque through RA’s TCP movement.

βš™οΈ FB Variables:

VAR_INPUT
Parameter Data Type Default Value 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

[ForceControlParCmd]

-

Command specific parameter

M
VAR_IN_OUT
Parameter Data Type Default Value 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: β€’ ForceStatus

M

Busy

BOOL

-

Function block is being processed

M

CommmandBuffered

BOOL

-

Command was transferred to the robot-controller and confirmed

M

ParameterAccepted

BOOL

-

Receiving of input parameter values has been acknowledged by RC

M

OutCmd

[ForceControlOutCmd]

-

Command specific outputs

M

βš™οΈ FB Structures:

ForceControlParCmd
Parameter Data Type Default Value Description Required

ReferenceType

ReferenceType

-

Type of coordinate system the force/torque values relate to

SensorValue

ARRAY[0..5] OF REAL

-

Current force/torque detected by the sensor
Used when sensor is connected to PLC

TargetValue

ARRAY[0..5] OF REAL

-

Desired force/torque setpoint values
Use <> -99999.9999 to activate specific axis

ToolNo

USINT

-

Index of tool (e.g., flange or user-defined tool)

FrameNo

USINT

-

Frame index used for reference

ConnectionMode

SensorConnectionMode

-

Sensor connection configuration

SensorFrame

ARRAY[0..5] OF REAL

-

Sensor position and orientation
Relative to flange or WCS depending on FixedSensor

CalibrationData

USINT

-

Index for payload calibration
Includes mass, CoG, orientation, inertia

TargetWindow

REAL

-

Allowed deviation from target force/torque to consider as reached
ForceControlOutCmd
Parameter Data Type Default Value Description Required

ForceStatus

ForceStatus

-

Current status of ForceControl and ForceLimit

⏳ 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;
  /// Force control
  ForceControl : MC_ForceControlFB;
END_VAR
Call 
// call function block
ForceControl
(
  Name           := 'SRCI_Robot',
  ExecMode       := ExecutionMode.CONTINUOUS,
  Priority       := PriorityLevel.NORMAL,
  AxesGroup      := AxesGroup
);
Usage 
VAR_INPUT
  /// Enable command
  Enable  : BOOL;
  /// Command parameter
  ParCmd  : ForceControlParCmd;
END_VAR

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

CASE _stepCmd OF

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

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


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