FunctionBlocks Trigger MC_SetTriggerLimitFB - ThorstenBrach/SRCI GitHub Wiki

MC_SetTriggerLimitFB

📝 Description:

Trigger "Actions" based on physical events (e.g. force limit reached).

⚙️ 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

Execute

BOOL

-

Start of the command at the rising edge

M

ParCmd

[SetTriggerLimitParCmd]

-

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

Valid

BOOL

-

TRUE, while the following outputs return valid values:
• Data

M

CommmandBuffered

BOOL

-

Command was transferred to the robot-controller and confirmed

M

MonitoringActive

BOOL

-

TRUE, when the monitoring of the input parameter values is active

M

OutCmd

[SetTriggerLimitOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

SetTriggerLimitParCmd
Parameter Data Type Default Value Description Required

TriggerMode

TriggerModeLimit

-

Specifies the trigger event by exceeding defined limit values.
(Mindestens eine Option muss unterstützt werden)

EvaluateStartCondition

BOOL

-

Determines whether the start condition is evaluated.
• FALSE: Start condition is not evaluated (default)
• TRUE: Start condition is evaluated

Data_1

ARRAY[0..11] OF REAL

-

Tolerance limits that start execution when exceeded by actual values from the RC.
Für TriggerMode 1, 2 und 4:
• [0..5]: Axes 1 to 6
• [6..11]: External axes 1 to 6
Für TriggerMode 3:
• [0]: Following Error in mm
• [1..11]: Undefined / not relevant
Default for all entries: 999999

Data_2

ARRAY[0..11] OF REAL

-

Tolerance limits that stop execution when values fall below these limits.
Für TriggerMode 1, 2 und 4:
• [0..5]: Axes 1 to 6
• [6..11]: External axes 1 to 6
Für TriggerMode 3:
• [0]: Following Error in mm
• [1..11]: Undefined / not relevant
Default for all entries: 999999

ListenerID

SINT

-

ID of associated trigger function.
• 0: Immediately (default) → Execute function immediately
• >0: Trigger → Execute when trigger with identical EmitterID is activated
Always positive.

EmitterID

SINT

-

ID of the Action function executed when the trigger condition is met.
• >0: Start Action → Start Action with identical ListenerID
• <0: Stop Action → Stop Action with identical ListenerID
• 0: Undefined (default) → Returns error if no EmitterID is defined
SetTriggerLimitOutCmd
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.

InvocationCounter

USINT

-

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

FollowID

DINT

-

Unique system-generated ID of the trigger function when the function is called by user.

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup      : AxesGroup;
  /// Robot Task
  RobotTask      : MC_RobotTaskFB;
  /// Set trigger  limit
  SetTriggerLimit : MC_SetTriggerLimitFB;
END_VAR
Call 
// call function block
SetTriggerLimit
(
  Name           := 'SRCI_Robot',
  ExecMode       := ExecutionMode.PARALLEL,
  ProcessingMode := ProcessingMode.TRIGGER_ONCE,
  Priority       := PriorityLevel.NORMAL,
  AxesGroup      := AxesGroup
);
Usage 
VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : SetTriggerLimitParCmd;
END_VAR

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

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