FunctionBlocks SuperImposing MC_MoveSuperImposedDynamicFB - ThorstenBrach/SRCI GitHub Wiki

MC_MoveSuperImposedDynamicFB

πŸ“ Description:

Activate superimposed motion of TCP to defined motion.

βš™οΈ 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.SEQUENCE_PRIMARY

Execution mode of the command

M

Priority

PriorityLevel

PriorityLevel.NORMAL

Priority of the command

M

ProcessingMode

ProcessingMode

-

ProcessingMode

M

Enable

BOOL

-

Enable / Disable the command at rising / falling edge

M

ParCmd

[MoveSuperImposedParCmd]

-

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

Busy

BOOL

-

Function block is being processed

M

Done

BOOL

-

Command executed successfully

M

Active

BOOL

-

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

M

CommmandBuffered

BOOL

-

Command was transferred to the robot-controller and confirmed

M

ParameterAccepted

BOOL

-

Receiving of input parameter values has been acknowledged by RC

M

OutCmd

[MoveSuperImposedOutCmd]

-

Command specific outputs

M

βš™οΈ FB Structures:

MoveSuperImposedParCmd
Parameter Data Type Default Value Description Required

Offset

RobotCartesianPosition

-

Additional distance and orientation for superimposed positioning

ReferenceType

ReferenceType

-

Defines the type of reference coordinate system for the offset position

VelocityDiffRate

REAL

-

Maximum velocity difference of the additional motion (not necessarily reached).
β€’ > 0%: Use specified value
β€’ ≀ 0%: Use velocity defined by the move command that is superimposed. If no motion is active, use internal minimal velocity (default)

AccelerationDiffRate

REAL

-

Maximum acceleration difference of the additional motion (not necessarily reached).
β€’ <0%: Use default acceleration (default)
β€’ 0%: Use internal minimal acceleration
β€’100%: Use maximal reference acceleration

DecelerationDiffRate

REAL

-

Maximum deceleration difference of the additional motion (not necessarily reached).
β€’ <0%: Use default deceleration (default)
β€’ 0%: Use internal minimal deceleration
β€’100%: Use maximal reference deceleration

JerkDiffRate

REAL

-

Maximum jerk difference of the additional motion (not necessarily reached).
β€’ <0%: Use default jerk (default)
β€’ 0%: Use internal minimal jerk
β€’100%: Use maximal reference jerk

ToolNo

USINT

-

Index of tool.
β€’ 0: Flange (default)
β€’ 1..254: Tool frames

FrameNo

USINT

-

Index of frame.
β€’ 0: WCS (default)
β€’ 1..254: User frames

ListenerID

SINT

-

ID of the trigger function that may be triggered.
β€’ 0: Immediately (default) β†’ Start executing this function immediately
β€’ >0: Trigger β†’ Start when trigger with identical positive EmitterID is called
   Stop when trigger with identical negative EmitterID is called

EmitterID

ARRAY[0..3] OF SINT

0

ID of the Action to be executed when this command is active.
β€’ >0: Start Action β†’ Start Action with identical ListenerID
β€’ <0: Stop Action β†’ Stop Action with identical ListenerID
β€’ 0: No trigger (default) β†’ No Action triggered during execution
MoveSuperImposedOutCmd
Parameter Data Type Default Value Description Required

RemainingDistance

REAL

-

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

Progress

REAL

-

Percentage of already traversed distance of the current job.
If not supported: β€’ -1

OriginID

DINT

-

Unique system-generated ID of the "Action" when the function is triggered.
β€’ >0: The "Action" is started by the trigger function with identical FollowID.
β€’ <0: The "Action" is stopped by the trigger function with identical FollowID.

InvocationCounter

USINT

-

Relates to ListenerID >0. Number of successful trigger-based command invocations.

⏳ Timing Diagram:

Work in progress – more content coming soon.

πŸ“‹ Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup               : AxesGroup;
  /// Robot Task
  RobotTask               : MC_RobotTaskFB;
  /// Move super imposed dynamic
  MoveSuperImposedDynamic : MC_MoveSuperImposedDynamicFB;
END_VAR
Call 
// call function block
MoveSuperImposedDynamic
(
  Name         := 'SRCI_Robot',
  ExecMode     := ExecutionMode.SEQUENCE_PRIMARY,
  Priority     := PriorityLevel.NORMAL,
  AxesGroup    := AxesGroup
);
Usage 
VAR_INPUT
  /// Enable command
  Enable  : BOOL;
  /// Command parameter
  ParCmd  : MoveSuperImposedDynamicParCmd;
END_VAR

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

CASE _stepCmd OF

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

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


  2: // Wait Execution done ?
     IF (( NOT MoveSuperImposedDynamic.Busy            ) AND
         (     MoveSuperImposedDynamic.Active = 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 (MoveSuperImposedDynamic.Error)
       THEN
         ErrorID     := MoveSuperImposedDynamic.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

πŸ’‘ Additional Information:

Work in progress – more content coming soon.

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