MC_ReadActualPositionCyclicFB

Classification: Core functions

Quick Links :

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

📝 Description:

Read the actual position cyclically.

⚙️ 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.PARALLEL	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	[ReadActualPositionCyclicParCmd]	-	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
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
OutCmd	[ReadActualPositionCyclicOutCmd]	-	Command specific outputs	M

⚙️ FB Structures:

ReadActualPositionCyclicParCmd

Parameter	Data Type	Default Value	Description	Required
ReadCartesianPosition	BOOL	-	Set TRUE to activate cyclic transmission of cartesian position without external axes.
ReadCartesianPositionExt	BOOL	-	Set TRUE to activate cyclic transmission of external axes values of cartesian position.
ToolNo	INT	-	Index of tool of returned position. • -1: Currently used tool on RC • 0: Flange (default) • 1..254: Tool frames
FrameNo	INT	-	Index of frame of returned position. • -1: Currently used frame on RC • 0: WCS (default) • 1..254: User frames
ReadJointPosition	BOOL		Set TRUE to activate cyclic transmission of joint position without external axes.	-
ReadJointPositionExt	BOOL	-	Set TRUE to activate cyclic transmission of external axes values of joint position.

ReadActualPositionCyclicOutCmd

Parameter	Data Type	Default Value	Description
ReadingCartesianPosition	BOOL	-	TRUE, while the output CartesianPosition returns valid values.
ReadingCartesianPositionExt	BOOL	-	TRUE, while the output ExtCartesianPosition returns valid values.
ReadingJointPosition	BOOL	-	TRUE, while the output JointPosition returns valid values.
ReadingJointPositionExt	BOOL	-	TRUE, while the output ExtJointPosition returns valid values.
CurrentCoordinateSystem	CoordinateSystem	-	Tool and frame index of currently used tool and frame according to Table 6-40.
CartesianPosition	RobotCartesianPosition	-	Cyclically returned, absolute coordinates of current position in selected coordinate systems (see input parameters ToolNo and FrameNo).
CartesianPositionShort	RobotCartesianPositionShort	-	Cyclically returned, absolute coordinates of current position in selected coordinate systems (see input parameters ToolNo and FrameNo).
CartesianPositionExt	RobotCartesianPositionExt	-	Cyclically returned, absolute cartesian position of the external axes of the robot.
CoordinateSystem	CoordinateSystem	-	Tool and frame index of returned position according to Table 6-40.
JointPosition	RobotJointPosition	-	Cyclically returned, absolute joint position of the robot in Joint position.
JointPositionShort	RobotJointPositionShort	-	Cyclically returned, absolute short joint position of the robot in Joint position.
JointPositionExt	RobotJointPositionExt	-	Cyclically returned, absolute extended joint position of the external axes of the robot.

⏳ 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 position cyclic
  ReadActualPositionCyclic : MC_ReadActualPositionCyclicFB;
END_VAR

Call

// Call functionblock
ReadActualPositionCyclic
(
  Name           := 'SRCI_Robot',
  ExecMode       := ExecutionMode.PARALLEL,
  Priority       := PriorityLevel.NORMAL,
  AxesGroup      := AxesGroup
);

Usage

VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : ReadActualPositionCyclicParCmd;
END_VAR

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

  2: // Wait Execution done ?
     IF (( NOT ReadActualPositionCyclic.Busy ) AND
         (     ReadActualPositionCyclic.Done ))
     THEN
       // stop execution
       ReadActualPositionCyclic.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 (ReadActualPositionCyclic.Error)
       THEN
         ErrorID     := ReadActualPositionCyclic.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 Read MC_ReadActualPositionCyclicFB - ThorstenBrach/SRCI GitHub Wiki

MC_ReadActualPositionCyclicFB

📝 Description:

⚙️ FB Variables:

⚙️ FB Structures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

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

⚠️ GitHub.com Fallback ⚠️

FunctionBlocks Read MC_ReadActualPositionCyclicFB - ThorstenBrach/SRCI GitHub Wiki

MC_ReadActualPositionCyclicFB

📝 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 ⚠️