MC_ReadMessagesFB

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

📝 Description:

Read error codes of pending errors and move them into user data block "RobotData".

This command is used internally by the RobotTask functionblock and should not be used directly within the application. The RobotTask functionblock automatically provides the extracted data in the UserData.

⚙️ 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	PriorityMode.NORMAL	Priority of the command	M
Enable	BOOL	-	Enable / Disable the command at rising / falling edge	M
ParCmd	[ReadMessagesParCmd]	-	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
Valid	BOOL	-	TRUE, while the following outputs return valid values: • Values	M
OutCmd	[ReadMessagesOutCmd]	-	Command specific outputs	M

⚙️ FB Structures:

ReadMessagesParCmd

Parameter	Data Type	Default Value	Description	Required
MsgID	USINT	-	ID for function specific acknowledgement mechanism	M
MessageLevel	MessageLevel	-	Defines up to which level of severity messages will be transmitted to the PLC’s message buffer	M

ReadMessagesOutCmd

Parameter	Data Type	Default Value	Description	Required
MsgId	USINT	-	ID for function-specific acknowledgement mechanism	M
NumberOfActiveErrors	USINT	-	Number of pending errors on RC	M
NumberOfActiveWarnings	USINT	-	Number of pending warnings on RC	M
Timestamp	IEC_TIMESTAMP	-	Timestamp	M
MsgType	MessageType	-	Message Type	M
Severity	Severity	-	Severity of returned message	M
ErrorCode	DWORD	-	Error code	M
Text	STRING(255)	-	Message text	M

⏳ 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 Messages
  ReadMessages : MC_ReadMessagesFB;
END_VAR

Call

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

Usage

VAR_INPUT
  /// Request enable read messages
  Enable : BOOL;
  /// Command parameter
  ParCmd : ReadMessagesParCmd;
END_VAR

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


CASE _stepCmd OF

  0: // Enable or disable function ?
     IF ((     Enable               ) XOR
         ( NOT ReadMessages.Enabled ))
     THEN
       // Set parameter
       ReadMessages.ParCmd.MsgID        := 1;
       ReadMessages.ParCmd.MessageLevel := MessageLevel.WARNING;
       // set timeout
       SetTimeout(PT := _timeoutCmd, rTimer := _timerCmd);
       // inc step counter
      _stepCmd := _stepCmd + 1;
     END_IF

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


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

MC_ReadMessagesFB

📝 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_ReadMessagesFB - ThorstenBrach/SRCI GitHub Wiki

MC_ReadMessagesFB

📝 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 ⚠️