FunctionBlocks ForceControl MC_ReadActualForceFB - ThorstenBrach/SRCI GitHub Wiki

MC_ForceLimitFB

📝 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.SEQUENCE_PRIMARY

Execution mode of the command

M

Priority

PriorityLevel

PriorityLevel.NORMAL

Priority of the command

M

ProcessingMode

ProcessingMode

-

ProcessingMode

M

Execute

BOOL

-

Start of the command at the rising edge

M

ParCmd

[ReadActualForceParCmd]

-

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

Valid

BOOL

-

TRUE, while the following outputs return valid values:
- ActualForce

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

[ReadActualForceOutCmd]

-

Command specific outputs

M

⚙️ FB_Structures:

ReadActualForceParCmd
Parameter Data Type Default Value Description Required

ReferenceType

ReferenceType

-

Defines type of reference of Force and Torque.
(At least one option must be supported.)

ToolNo

USINT

-

Index of tool:
• 0: Flange (default)
• 1..254: Tool frames

FrameNo

USINT

-

Index of user coordinate system (UCS).

CalibrationData

USINT

-

Index of payload data for gravity compensation and sensor offset.

ListenerID

SINT

-

Trigger ID:
• 0: Start immediately (default)
• >0: Start on trigger
ReadActualForceOutCmd
Parameter Data Type Default Value Description Required

ActualForce

ARRAY[0..5] OF REAL

-

Currently detected force and torque according to ReferenceType, ToolNo, and FrameNo:
• [0]: X-Axis
• [1]: Y-Axis
• [2]: Z-Axis
• [3]: RX
• [4]: RY
• [5]: RZ

OriginID

INT

-

Unique ID of the "Action" when triggered:
• >0: Started
• <0: Stopped

InvocationCounter

USINT

-

Number of successful trigger-based command invocations.

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup       : AxesGroup;
  /// Robot Task
  RobotTask       : MC_RobotTaskFB;
  /// Read actual force
  ReadActualForce : MC_ReadActualForceFB;
END_VAR
Call 
// call function block
ReadActualForce
(
  Name           := 'SRCI_Robot',
  ExecMode       := ExecutionMode.PARALLEL,
  ProcessingMode := ProcessingMode.PARALLEL,
  Priority       := PriorityLevel.NORMAL,
  AxesGroup      := AxesGroup
);
Usage 
VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : ReadActualForceParCmd;
END_VAR

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

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