MC_ReadRobotDataFB

Quick Links :

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

📝 Description:

Read robot-specific data from the RC.

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
Execute	BOOL	-	Start of the command at the rising edge	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
CommmandBuffered	BOOL	-	Command was transferred to the robot-controller and confirmed	M
OutCmd	[ReadRobotDataOutCmd]	-	Command specific outputs	M

⚙️ FB Struktures:

ReadRobotDataOutCmd

Parameter	Data Type	Default Value	Description	Required
RCManufacturer	STRING(20)	-	RC manufacturer name	M
RCOrderID	STRING(20)	-	RC part number	M
RCSerialNumber	STRING(16)	-	RC serial number	M
RASerialNumber	STRING(16)	-	RA serial number	M
RCFirmwareVersion	STRING(12)	-	Robot firmware version in manufacturer-specific format	M
RCInterpreterVersion	STRING(3)	-	Interpreter version	M
AxisJointUsed	AxisJointUsed	-	Used joint axes of the robot	M
AxisExternalUsed	AxisExternalUsed	-	Used external axes of the robot	M
AxisJointUnit	AxisJointUnit	-	Unit of the joint axes of the robot	M
AxisExternalUnit	AxisExternalUnit	-	Unit of the external axes of the robot	M
RCSupportedFunctions	RCSupportedFunctions	-	Functions supported by the RC	M
RobotID	STRING(16)	-	Unique and unmodifiable identification of the RA	M
InterpreterCycleTime	UINT	-	Interpreter task cycle time of the RC [ms]	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 Robot Data
  ReadRobotData : MC_ReadRobotDataFB;
END_VAR

Call

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

Usage

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

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

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

MC_ReadRobotDataFB

📝 Description:

⚙️ FB Variables:

⚙️ FB Struktures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

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

⚠️ GitHub.com Fallback ⚠️

FunctionBlocks Read MC_ReadRobotDataFB - ThorstenBrach/SRCI GitHub Wiki

MC_ReadRobotDataFB

📝 Description:

⚙️ FB Variables:

⚙️ FB Struktures:

⏳ Timing Diagram:

📋 Examples:

💡 Additional Information:

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

⚠️ **GitHub.com Fallback** ⚠️

⚠️ GitHub.com Fallback ⚠️