FunctionBlocks Spline MC_CreateSplineFB - ThorstenBrach/SRCI GitHub Wiki

MC_CreateSplineFB

📝 Description:

Create spline on RC from positions stored in PLC.

⚙️ 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

Execute

BOOL

-

Start of the command at the rising edge

M

ParCmd

[CreateSplineParCmd]

-

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

CommmandBuffered

BOOL

-

Command was transferred to the robot-controller and confirmed

M

⚙️ FB Structures:

CreateSplineParCmd
Parameter Data Type Default Value Description Required

Mode

SplineMode

-

Define the method to calculate the path trajectory for the spline movement

SplineID

SINT

-

Index of the spline trajectory to be created

SplineData

ARRAY[1..RobotLibraryParameter.SPLINE_DATA_MAX] OF SplineData

-

Contains all data relevant to the spline trajectory:
• Cartesian position
• Coordinate systems
• Dynamic parameters

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup    : AxesGroup;
  /// Robot Task
  RobotTask    : MC_RobotTaskFB;
  /// Create spline
  CreateSpline : MC_CreateSplineFB;
END_VAR
Call 
// call function block
CreateSpline
(
  Name         := 'SRCI_Robot',
  ExecMode     := ExecutionMode.PARALLEL,
  Priority     := PriorityLevel.NORMAL,
  AxesGroup    := AxesGroup
);
Usage 
VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : CreateSplineParCmd;
END_VAR

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

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

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