FunctionBlocks Read MC_ReadSystemVariableFB - ThorstenBrach/SRCI GitHub Wiki

MC_ReadSystemVariableFB

📝 Description:

Read specific parameter of the robot.

⚙️ 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

[ReadSystemVariableParCmd]

-

Command specific parameter

M
VAR_IN_OUT
Parameter Data Type Default Value Description Required

AxesGroup

AxesGroup

-

Robot group assigned to the function

M
VAR_OUPUT
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:
• Values

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

[ReadSystemVariableOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

ReadSystemVariableParCmd
Parameter Data Type Default Value Description Required

RCParameter

BOOL

-

Defines the parameter list which should be used:
• FALSE: Standardized parameter list (default):
  - Read parameters on the RC based on a standardized parameter list
• TRUE: Manufacturer-specific parameter list:
  - Read parameters on the RC based on robot manufacturer-specific parameter lists

ParameterID

ARRAY[0..7] OF UINT

-

Requested parameter ID in selected parameter list.
• 0: undefined (default)
• 1..65 535: Parameter ID

SubParameterID

ARRAY[0..7] OF USINT

-

ID of the requested subparameter in selected parameter list.
• 0: ID 0 (default) – for parameters without subparameters
• 1..255: Indices 1 to 255 – for parameters with subparameters

ListenerID

SINT

-

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

OriginID

INT

-

Unique system-generated ID of the "Action" when the function is triggered.
• >0: The "Action" is started by the trigger function with identical FollowID.
• <0: The "Action" is stopped by the trigger function with identical FollowID.
For more information see chapter 5.5.12.4 (EmitterID, ListenerID, FollowID and OriginID)

InvocationCounter

USINT

-

Relates to ListenerID >0. Number of successful trigger-based command invocations.
For more information refer to chapter 5.5.12.4.

DataType

ARRAY[0..7] OF USINT

-

Parameter data type as specified in Table 6-613.

Data_0

ARRAY[0..3] OF BYTE

-

Parameter data addressed by input values of ParameterID[0] and SubParameterID[0]

Data_1

ARRAY[0..3] OF BYTE

-

Parameter data addressed by input values of ParameterID[1] and SubParameterID[1]

Data_2

ARRAY[0..3] OF BYTE

-

Parameter data addressed by input values of ParameterID[2] and SubParameterID[2]

Data_3

ARRAY[0..3] OF BYTE

-

Parameter data addressed by input values of ParameterID[3] and SubParameterID[3]

Data_4

ARRAY[0..3] OF BYTE

-

Parameter data addressed by input values of ParameterID[4] and SubParameterID[4]

Data_5

ARRAY[0..3] OF BYTE

-

Parameter data addressed by input values of ParameterID[5] and SubParameterID[5]

Data_6

ARRAY[0..3] OF BYTE

-

Parameter data addressed by input values of ParameterID[6] and SubParameterID[6]

Data_7

ARRAY[0..3] OF BYTE

-

Parameter data addressed by input values of ParameterID[7] and SubParameterID[7]

⏳ 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 load data
  ReadSystemVariable : MC_ReadSystemVariableFB;
END_VAR
Call 
// call function block
ReadSystemVariable
(
  Name           := 'SRCI_Robot',
  ProcessingMode := ProcessingMode.PARALLEL,
  SequenceFlag   := SequenceFlag.NO_SEQUENCE,
  Priority       := PriorityLevel.NORMAL,
  AxesGroup      := AxesGroup
);
Usage 
VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : ReadSystemVariableParCmd;
END_VAR

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

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

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

⚠️ **GitHub.com Fallback** ⚠️