FunctionBlocks Spline MC_DynamicSplineFB - ThorstenBrach/SRCI GitHub Wiki

MC_DynamicSplineFB

📝 Description:

Create and move spline on RC simultaneously.

⚙️ 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.CONTINUOUS

Execution mode of the command

M

Priority

PriorityLevel

PriorityLevel.NORMAL

Priority of the command

M

AbortingMode

AbortingMode

-

Parameter which determines the behavior towards the previously sent and still active or buffered commands

M

SequenceFlag

SequenceFlag

-

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

M

Enable

BOOL

-

Enable / Disable the command at rising / falling edge

M

ParCmd

[DynamicSplineParCmd]

-

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

Active

BOOL

-

The command takes control of the motion of the according axis group

M

CommandAborted

BOOL

-

The command was aborted by another command

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

[DynamicSplineOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

DynamicSplineParCmd
Parameter Data Type Default Value Description Required

Mode

SplineMode

-

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

BlendingMode

BlendingMode

-

Determines the transition behavior at the end of the movement to the next command.
Allows choosing between exact stop and various blend types.

BlendingParameter

ARRAY[0..1] OF REAL

[10, 0]

Additional parameter for the blending mode, e.g. to define velocity limit (%) or blending radius.
• [0]: default 10
• [1]: default 0

MoveTime

TIME

-

Used only if greater than 0 (default).
• Velocity input is ignored
• Parameter defines time to reach the target position
An error is sent by the RC if the time cannot be met.

SplineData

ARRAY[1..RobotLibraryParameter.SPLINE_DATA_MAX] OF SplineData

-

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

StartPosition

INT

-

Starts calculation and spline motion when equal to or greater than number of buffered spline positions
DynamicSplineOutCmd
Parameter Data Type Default Value Description Required

RemainingDistance

REAL

-

Distance-to-go of the current job.
• -1: No valid value because move command is not yet active (valid values are pending) or not supported by RC
• >0: Actual distance between current and target position
• 0: Target position reached

SegmentProgress

REAL

-

Percentage of already traversed distance of the actual segment of the spline trajectory.
If not supported: -1

Buffered

INT

-

Number of buffered, consecutive segments of the spline trajectory

Calculated

INT

-

Number of calculated, consecutive segments of the spline trajectory.
Already calculated segments can no longer be modified.

ActiveIndex

SINT

-

Index of the currently active segment of the spline data set

TrajectoryCompleted

BOOL

-

Spline movement has been finished successfully.
New SplineData will start a new spline movement.

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup    : AxesGroup;
  /// Robot Task
  RobotTask    : MC_RobotTaskFB;
  /// Dynamic spline
  DynamicSpline : MC_DynamicSplineFB;
END_VAR
Call 
// call function block
DynamicSpline
(
  Name         := 'SRCI_Robot',
  ExecMode     := ExecutionMode.PARALLEL,
  Priority     := PriorityLevel.NORMAL,
  AxesGroup    := AxesGroup
);
Usage 
VAR_INPUT
  /// Enable command
  Enable  : BOOL;
  /// Command parameter
  ParCmd  : DynamicSplineParCmd;
END_VAR

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

CASE _stepCmd OF

  0: // Enable or disable function ?
     IF (( Enable                ) XOR
         ( DynamicSpline.Enabled ))
     THEN
       // set timeout
       SetTimeout(PT := _timeoutCmd, rTimer := _timerCmd);
       // inc step counter
      _stepCmd := _stepCmd + 1;
     END_IF

  1: // Start Execution
     IF (( NOT DynamicSpline.Busy  ) AND
         ( NOT DynamicSpline.Error ))
     THEN
       // enable/disable exchange configuration
       DynamicSpline.Execute := 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 (DynamicSpline.Error)
       THEN
         ErrorID     := DynamicSpline.ErrorID;
         ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
       END_IF
     END_IF


  2: // Wait Execution done ?
     IF (( NOT DynamicSpline.Busy                    ) AND
         (     DynamicSpline.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 (DynamicSpline.Error)
       THEN
         ErrorID     := DynamicSpline.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** ⚠️