MC_RobotTaskFB

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

📝 Description:

This functionblock manages various internal mechanisms for client-server communication and data processing. It includes the following key operations:

Establishes and verifies communication between the client (PLC) and server (RC).
Configures and verifies telegram numbers to ensure correct data transmission.
Manages cyclic, acyclic, and optional cyclic data within telegrams.
Handles the execution order of commands (ACR) based on priority.
Manages telegram sequences according to defined sequence IDs.
Logs events and handles user-relevant data.
Transfers user-defined configurations via the ExchangeConfiguration function.
Synchronizes configuration data between the server and client.

Key Components

Telegram Configuration

The function ensures the telegram number is correctly matched and handles discrepancies with error or warning messages.

Data Management

Manages data areas for cyclic, acyclic, and optional cyclic data, ensuring sufficient space and proper reading/writing operations.

Synchronization

Ensures the client and server share synchronized configuration data, including tools, frames, loads, and work areas, with configurable synchronization modes and actions.

The function also handles message logging, provides user data storage, and supports user configuration settings, enabling customized behavior for tool/frame/load synchronization, delays, and other parameters.

⚙️ 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	-
Enable	BOOL	-	Set TRUE (default) to initialize the interface	M
RobotName	STRING(20)	-	User defined command name	M
SystemTime	SystemTime	-	Date and time of the PLC	M
OnlineChange	BOOL	-	Online change detected → recalculate pointer/references	M
AxesGroupID	BYTE	-	For convenience, an RC with only one RA must assign ID 1 to this RA	M
ParCfg	[RobotTaskParCfg]	-	Configuration parameter to configure the	M

VAR_IN_OUT

Parameter	Data Type	Default Value	Description	Required
RobotInData	ARRAY[0..RobotLibraryParameter.ROBOT_IN_DATA_MAX] OF BYTE	-	Inputs of PLC for communication from RC	M
RobotOutData	ARRAY[0..RobotLibraryParameter.ROBOT_OUT_DATA_MAX] OF BYTE	-	Outputs of PLC for communication to RC	M
UserData	UserData	-	User data stored on the PLC	M
ToolData	ARRAY[0..RobotLibraryParameter.TOOL_MAX-1] OF Tool	-	ToolData stored on PLC	M
FrameData	ARRAY[0..RobotLibraryParameter.FRAME_MAX-1] OF Frame	-	FrameData stored on PLC	M
LoadData	ARRAY[0..RobotLibraryParameter.LOAD_MAX-1] OF Load	-	LoadData stored on PLC	M
WorkAreas	ARRAY[0..RobotLibraryParameter.WORK_AREAS_MAX-1] OF RobotWorkArea	-	Work areas stored on PLC	M
SWLimits	SWLimits	-	Software limits stored on PLC	M
DefaultDynamics	DefaultDynamics	-	Default dynamics stored on PLC	M
ReferenceDynamics	ReferenceDynamics	-	Reference dynamics stored on PLC	M
SystemLog	ARRAY[0..RobotLibraryParameter.SYSTEM_LOG_MAX] OF STRING(RobotLibraryParameter.MESSAGE_TEXT_LEN)	-	System log on PLC	M
MessageLog	ARRAY[0..RobotLibraryParameter.MESSAGE_LOG_MAX] OF AlarmMessage	-	Message buffer on the PLC	M
AxesGroup	AxesGroup	-	Robot assignment of function	M

VAR_OUTPUT

Parameter	Data Type	Default Value	Description	Required
Busy	BOOL	-	FB is being processed	M
Initialized	BOOL	-	Interface is initialized.	M
Synchronized	BOOL	-	Server and client were successfully synchronized.	M
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
InvalidFrames	UDINT	-	Amount of counted invalid frames	M

⚙️ FB Structures:

RobotTaskParCfg

Parameter	Data Type	Default Value	Description	Required
Com	[RobotTaskParCfgCom]	-	Common parameter	M
Plc	[RobotTaskParCfgPlc]	-	PLC parameter	M
Rob	[RobotTaskParCfgRob]	-	Robot parameter	M

RobotTaskParCfgCom

Parameter	Data Type	Default Value	Description	Required
LifeSignTimeOut	TIME	T#50MS	Maximum allowed time between LifeSign increments before communication error.	M
TelegramLengthPlcToRob	UINT	256	Frame size (bytes) for telegram from client (PLC) to server (robot)	M
TelegramLengthRobToPlc	UINT	256	Frame size (bytes) for telegram from server (robot) to client (PLC)	M

RobotTaskParCfgPlc

Parameter	Data Type	Default Value	Description	Required
CycleTime	TIME	T#10MS	PLC cycle time	M
Parameter	[RobotTaskParCfgPlcParameter]	-	Configuration of plc parameter	M
OptionalCyclic	AxesGroupParameterPlcOptionalCyclic	-	Configuration of optional cyclic data send to the Robot	M

RobotTaskParCfgPlcParameter

Parameter	Data Type	Default Value	Description	Required
ManufacturedID	UINT	-	Manufactured ID	M
OrderID	STRING(20)	-	Order ID	M
SerialNumber	STRING(16)	-	Serial Number	M
FirmwareVersion	STRING(8)	-	Firmware Version	M
InterfaceVersion	STRING(8)	-	Client Interface Version	M
SynchronizationModes	SynchronizationModes	-	Synchronization Modes	M
SyncUserInteraction	SyncUserInteraction	-	Synchronization needs user interaction	M

RobotTaskParCfgRob

Parameter	Data Type	Default Value	Description	Required
Parameter	[RobotTaskParCfgRobParameter]	-	Configuration of robot parameter	M
OptionalCyclic	AxesGroupParameterRobOptionalCyclic	-	Configuration of optional cyclic data received from the Robot	M

RobotTaskParCfgRobParameter

Parameter	Data Type	Default Value	Description	Required
WaitAtBlendingZone	BOOL	-	Configuration of robot parameter	M
AllowSecSeqWhileSubprogram	BOOL	-	Configuration of robot parameter	M
AllowDynamicBlending	BOOL	-	Allows blending when CallSubprogram is called in sequence and removed afterwards. • 0 (default): Dynamic blending is prevented • 1: Dynamic blending is allowed	M
DelayTime	UINT	-	Defines waiting time of RC between receiving a first move command when motion queue is empty and starting the first movement	M
WaitForNrOfCmd	UINT	-	Define number of points required to calculate the blending.	M
SyncDelay	UINT	0	Defines a delay time between detecting an inconsistency of configuration data between server and client and executing the defined SyncReaction.	M
SyncReaction	SyncReaction	-	Specifies system reaction in case inconsistency of synchronization data is detected according to Table 6-81.	M
MessageLevel	MessageLevel	MessageLevelEnum.WARNING	Defines up to which level of severity messages will be transmitted to the PLC’s message buffer	M

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration

VAR_GLOBAL

  /// Inputs of PLC for communication from RC
  RobotInData  AT %I* : ARRAY[0..RobotLibraryParameter.ROBOT_IN_DATA_MAX  ] OF BYTE;
  /// Outputs of PLC for communication to RC
  RobotOutData AT %Q* : ARRAY[0..RobotLibraryParameter.ROBOT_OUT_DATA_MAX ] OF BYTE;

  /// Robot Task
  RobotTask         : MC_RobotTaskFB;

  ///  User data stored on the PLC.
  UserData          : UserData;
  /// ToolData stored on PLC.
  ToolData          : ARRAY[0..RobotLibraryParameter.TOOL_MAX -1      ] OF Tool;
  /// LoadData stored on PLC.
  FrameData         : ARRAY[0..RobotLibraryParameter.FRAME_MAX -1     ] OF Frame;
  /// LoadData stored on PLC.
  LoadData          : ARRAY[0..RobotLibraryParameter.LOAD_MAX -1      ] OF Load;
  /// Work areas stored on PLC.
  WorkAreas         : ARRAY[0..RobotLibraryParameter.WORK_AREAS_MAX -1] OF RobotWorkArea;
  /// Software limits stored on PLC
  SWLimits          : SWLimits;
  /// Default dynamics stored on PLC.
  DefaultDynamics   : DefaultDynamics;
  /// Reference dynamics stored on PLC.
  ReferenceDynamics : ReferenceDynamics;

  /// System log on PLC
  SystemLog         : ARRAY[0..RobotLibraryParameter.SYSTEM_LOG_MAX ] OF STRING(RobotLibraryParameter.MESSAGE_TEXT_LEN);
  /// Message buffer on the PLC - For more information refer to 5.5.11
  MessageLog        : ARRAY[0..RobotLibraryParameter.MESSAGE_LOG_MAX] OF AlarmMessage;
  /// Robot assignment of function
  AxesGroup         : AxesGroup;

END_VAR

Parameterization

// Communication settings
RobotTask.ParCfg.Com.LifeSignTimeOut                        := T#100MS;
RobotTask.ParCfg.Com.TelegramLengthPlcToRob                 := 256;
RobotTask.ParCfg.Com.TelegramLengthRobToPlc                 := 256;

// PLC settings
RobotTask.ParCfg.PLC.CycleTime                              := REAL_TO_TIME(UDINT_TO_REAL(TwinCAT_SystemInfoVarList._TaskInfo[1].CycleTime)/10000);
RobotTask.ParCfg.PLC.Parameter.ManufacturedID               := 99;
RobotTask.ParCfg.PLC.Parameter.OrderID                      := '12345678901234567890';
RobotTask.ParCfg.PLC.Parameter.SerialNumber                 := '1234567890123456';
RobotTask.ParCfg.PLC.Parameter.FirmwareVersion              := '12345678';
RobotTask.ParCfg.PLC.Parameter.InterfaceVersion             := '1.3';

// PLC synchronization settings
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.Tool             [SyncTime.DURING_START_UP] := SyncMode.SERVER_TO_CLIENT;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.Tool             [SyncTime. AFTER_START_UP] := SyncMode.AUTOMATIC;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.Frame            [SyncTime.DURING_START_UP] := SyncMode.SERVER_TO_CLIENT;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.Frame            [SyncTime. AFTER_START_UP] := SyncMode.AUTOMATIC;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.Load             [SyncTime.DURING_START_UP] := SyncMode.SERVER_TO_CLIENT;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.Load             [SyncTime. AFTER_START_UP] := SyncMode.AUTOMATIC;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.WorkAreas        [SyncTime.DURING_START_UP] := SyncMode.NO_SYNCHRONIZATION;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.WorkAreas        [SyncTime. AFTER_START_UP] := SyncMode.NO_SYNCHRONIZATION;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.SWLimits         [SyncTime.DURING_START_UP] := SyncMode.SERVER_TO_CLIENT;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.SWLimits         [SyncTime. AFTER_START_UP] := SyncMode.AUTOMATIC;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.DefaultDynamics  [SyncTime.DURING_START_UP] := SyncMode.SERVER_TO_CLIENT;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.DefaultDynamics  [SyncTime. AFTER_START_UP] := SyncMode.AUTOMATIC;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.ReferenceDynamics[SyncTime.DURING_START_UP] := SyncMode.SERVER_TO_CLIENT;
RobotTask.ParCfg.PLC.Parameter.SynchronizationModes.ReferenceDynamics[SyncTime. AFTER_START_UP] := SyncMode.AUTOMATIC;


// PLC optional cyclic settings
RobotTask.ParCfg.PLC.OptionalCyclic.UseCallSubprogram       := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.UseCartesianPosition    := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.UseJointPosition        := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.UseForce                := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.Bit04                   := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.Bit05                   := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.Bit06                   := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.Bit07                   := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.UseTwoSequences         := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.UseCartesianPositionExt := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.UseJointPositionExt     := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.Bit11                   := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.Bit12                   := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.Bit13                   := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.Bit14                   := FALSE;
RobotTask.ParCfg.PLC.OptionalCyclic.Bit15                   := FALSE;

// Robot settings
RobotTask.ParCfg.Rob.Parameter.WaitAtBlendingZone           := FALSE;
RobotTask.ParCfg.Rob.Parameter.AllowSecSeqWhileSubprogram   := FALSE;
RobotTask.ParCfg.Rob.Parameter.AllowDynamicBlending         := FALSE;
RobotTask.ParCfg.Rob.Parameter.DelayTime                    := 0;
RobotTask.ParCfg.Rob.Parameter.WaitForNrOfCmd               := 1;
RobotTask.ParCfg.Rob.Parameter.SyncDelay                    := 0;
RobotTask.ParCfg.Rob.Parameter.SyncReaction                 := SyncReaction.NO_REACTION;
RobotTask.ParCfg.Rob.Parameter.MessageLevel                 := MessageLevel.WARNING;

// Robot optional cyclic settings
RobotTask.ParCfg.Rob.OptionalCyclic.UseCallSubprogram       := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.UseCartesianPosition    := TRUE;
RobotTask.ParCfg.Rob.OptionalCyclic.UseJointPosition        := TRUE;
RobotTask.ParCfg.Rob.OptionalCyclic.UseForce                := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.UseCurrent              := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.Bit05                   := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.Bit06                   := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.Bit07                   := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.UseTwoSequences         := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.UseCartesianPositionExt := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.UseJointPositionExt     := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.UseForceExt             := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.UseCurrentExt           := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.Bit13                   := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.Bit14                   := FALSE;
RobotTask.ParCfg.Rob.OptionalCyclic.Bit15                   := FALSE;

Call

// Call Robot Task
RobotTask(  RobotName           := 'SRCI_Robot',
            Enable              := Main.SystemReady ,
            SystemTime          := Main.SysTime,
            OnlineChange        := Main.OnlineChange,
            RobotInData         := RobotInData,
            RobotOutData        := RobotOutData,
            UserData            := UserData,
            ToolData            := ToolData,
            FrameData           := FrameData,
            LoadData            := LoadData,
            WorkAreas           := WorkAreas,
            SWLimits            := SWLimits,
            DefaultDynamics     := DefaultDynamics,
            ReferenceDynamics   := ReferenceDynamics,
            SystemLog           := SystemLog,
            MessageLog          := ClientDefines.MessageLog,
            AxesGroup           := AxesGroup,
            LogLevel            := LogLevelEnum.DEBUG
          );

💡 Additional Information:

Work in progress – more content coming soon.

FunctionBlocks General MC_RobotTaskFB - ThorstenBrach/SRCI GitHub Wiki

MC_RobotTaskFB

📝 Description:

Key Components

Telegram Configuration

Data Management

Synchronization

⚙️ FB Variables:

⚙️ FB Structures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

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

⚠️ GitHub.com Fallback ⚠️

FunctionBlocks General MC_RobotTaskFB - ThorstenBrach/SRCI GitHub Wiki

MC_RobotTaskFB

📝 Description:

Key Components

Telegram Configuration

Data Management

Synchronization

⚙️ FB Variables:

⚙️ FB Structures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

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

⚠️ **GitHub.com Fallback** ⚠️

⚠️ GitHub.com Fallback ⚠️