MC_ForceLimitFB

Quick Links :

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

📝 Description:

Commands specified reaction from RA when defined force/torque detected.

⚙️ 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
AxesGroup	AxesGroup	-	Robot group assigned to the function	M
Enable	BOOL	-	Enable / Disable the command at rising / falling edge	M
ParCmd	[ForceLimitParCmd]	-	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 : • 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	[ForceLimitOutCmd]	-	Command specific outputs	M

⚙️ FB Structures:

ForceLimitParCmd

Parameter	Data Type	Default Value	Description
ReferenceType	ReferenceType	-	Defines type of reference of Force and Torque
SensorValue	ARRAY[0..5] OF REAL	-	Currently applied force/torque from sensor (for PLC connection)
ToolNo	USINT	-	Index of tool
FrameNo	USINT	-	Index of assigned user coordinate system
ForceLimit	ARRAY[0..5] OF REAL	-	Max allowed force/torque before reaction Set to ≠ 0 to enable monitoring
ConnectionMode	ConnectionMode	-	Specifies encoder/sensor connection setup
SensorFrame	ARRAY[0..5] OF REAL	-	Sensor position relative to flange or WCS
CalibrationData	USINT	-	Index of payload data used for sensor calibration
FixedSensor	BOOL	-	Defines if sensor is fixed or mounted on flange
EmitterID	SINT	-	ID of Action to be triggered during this command

ForceLimitOutCmd

Parameter	Data Type	Default Value	Description	Required
ForceStatus	ForceStatus	-	Current status of ForceControl and ForceLimit
FollowID	DINT	-	Unique system-generated ID of the trigger function (used if `EmitterID ≠ 0`)

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration

VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup    : AxesGroup;
  /// Robot Task
  RobotTask    : MC_RobotTaskFB;
  /// Force limit
  ForceLimit   : MC_ForceLimitFB;
END_VAR

Call

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

Usage

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

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

CASE _stepCmd OF

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

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


  2: // Wait Execution done ?
     IF (( NOT ForceLimit.Busy             ) AND
         (     ForceLimit.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 (ForceLimit.Error)
       THEN
         ErrorID     := ForceLimit.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 ForceControl MC_ForceLimitFB - ThorstenBrach/SRCI GitHub Wiki

MC_ForceLimitFB

📝 Description:

⚙️ FB Variables:

⚙️ FB Structures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

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

⚠️ GitHub.com Fallback ⚠️

FunctionBlocks ForceControl MC_ForceLimitFB - ThorstenBrach/SRCI GitHub Wiki

MC_ForceLimitFB

📝 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 ⚠️