FunctionBlocks SuperImposing MC_MoveSuperImposedFB - ThorstenBrach/SRCI GitHub Wiki

MC_MoveSuperImposedFB

📝 Description:

Activate superimposed motion of TCP to defined motion.

⚙️ 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

Enable

BOOL

-

Start of the command at the rising edge

M

ParCmd

[MoveSuperImposedDynamicParCmd]

-

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

-

TRUE, when function is enabled and continuously reads the input parameters

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

ParameterAccepted

BOOL

-

Receiving of input parameter values has been acknowledged by RC

M

OutCmd

[MoveSuperImposedDynamicOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

MoveSuperImposedDynamicParCmd
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 of the offset position

VelocityDiffRate

REAL

-

Maximum velocity difference of the additional motion (not necessarily reached).
• > 0%: Use specified value
• ≤ 0%: Use velocity from superimposed move command (or internal minimal velocity if none active; default)

AccelerationDiffRate

REAL

-

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

DecelerationDiffRate

REAL

-

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

JerkDiffRate

REAL

-

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

ToolNo

USINT

-

Index of tool.
• 0: Flange (default)
• 1..254: Tool frames

FrameNo

USINT

-

Index of frame.
• 0: WCS (default)
• 1..254: User frames

InterpolationMode

InterpolationMode

-

Define the interpolation mode for the superimposed motion
MoveSuperImposedDynamicOutCmd
Parameter Data Type Default Value Description Required

RemainingDistance

REAL

-

Distance-to-go \[mm\] 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

Progress

REAL

-

Percentage of already traversed superimposed offset.
If not supported: • -1

OffsetReached

BOOL

-

TRUE if the offset for superimposed positioning is reached

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup        : AxesGroup;
  /// Robot Task
  RobotTask        : MC_RobotTaskFB;
  /// Move super imposed
  MoveSuperImposed : MC_MoveSuperImposedFB;
END_VAR
Call 
// call function block
MoveSuperImposed
(
  Name           := 'SRCI_Robot',
  ExecMode       := ExecutionMode.PARALLEL,
  ProcessingMode := ProcessingMode.PARALLEL,
  Priority       := PriorityLevel.NORMAL,
  AxesGroup      := AxesGroup
);
Usage 
VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : MoveSuperImposedParCmd;
END_VAR

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

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