FunctionBlocks Read MC_ReadActualTCPVelocityFB - ThorstenBrach/SRCI GitHub Wiki

MC_ReadActualTCPVelocityFB

πŸ“ Description:

Read actual TCP velocity.

βš™οΈ 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

ProcessingMode

ProcessingMode

-

ProcessingMode

M

SequenceFlag

SequenceFlag

-

Defines the target sequence in which the command will be executed For more information about the differentiation of sequences

M

Execute

BOOL

-

Start of the command at the rising edge

M

ParCmd

[ReadActualTCPVelocityParCmd]

-

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:
β€’ ActualTCPVelocity
β€’ ToolNoReturn
β€’ FrameNoReturn

M

CommandAborted

BOOL

-

The command was aborted by another command

M

CommmandBuffered

BOOL

-

Command was transferred to the robot-controller and confirmed

M

CommandInterrupted

BOOL

-

TRUE, while command is interrupted during execution and can be continued

M

ParameterAccepted

BOOL

-

Receiving of input parameter values has been acknowledged by RC

M

OutCmd

[ReadActualTCPVelocityOutCmd]

-

Command specific outputs

M

βš™οΈ FB Structures:

ReadActualTCPVelocityParCmd
Parameter Data Type Default Value Description Required

ToolNo

USINT

-

Index of tool of returned velocity.
β€’ 0: Flange (default)
β€’ 1..254: Tool frames

FrameNo

USINT

-

Index of frame.
β€’ 0: WCS (default)
β€’ 1..254: User frames

ListenerID

SINT

-

ID of associated trigger function.
β€’ 0: No Trigger (default) β†’ No trigger related behavior
β€’ >0: Trigger β†’ Start executing when the trigger function with the identical EmitterID is triggered.
Always positive.
ReadActualTCPVelocityOutCmd
Parameter Data Type Default Value Description Required

ActualTCPVelocity

REAL

-

Absolute actual velocity of the robot’s TCP. [mm/s]

ToolNoReturn

USINT

-

Index of tool of returned velocity.
β€’ 0: Flange
β€’ 1..254: Tool frames

FrameNoReturn

USINT

-

Index of frame of returned position.
β€’ 0: WCS
β€’ 1..254: User frames

OriginID

INT

-

Unique system-generated ID of the "Action" when the function is triggered.
β€’ >0: The "Action" is started by the trigger function with identical FollowID.
β€’ <0: The "Action" is stopped by the trigger function with identical FollowID.

InvocationCounter

USINT

-

Relates to ListenerID >0. Number of successful trigger-based command invocations.

⏳ 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;
  /// Read actual TCP velocity
  ReadActualTCPVelocity : MC_ReadActualTCPVelocityFB;
END_VAR
Call 
// Call functionblock
ReadActualTCPVelocity
(
  Name           := 'SRCI_Robot',
  ExecMode       := ExecutionMode.PARALLEL,
  ProcessingMode := ProcessingMode.PARALLEL,
  SequenceFlag   := SequenceFlag.PRIMARY_SEQUENCE,
  Priority       := PriorityLevel.NORMAL,
  AxesGroup      := AxesGroup
);
Usage 
VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : ReadActualTCPVelocityParCmd;
END_VAR

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

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

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