FunctionBlocks Trigger MC_SetTriggerRegisterFB - ThorstenBrach/SRCI GitHub Wiki

MC_SetTriggerRegisterFB

📝 Description:

Trigger "Actions" based on I/O related events (e.g. change of DI’s state).

⚙️ 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

[SetTriggerRegisterParCmd]

-

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

MonitoringActive

BOOL

-

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

M

OutCmd

[SetTriggerRegisterOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

SetTriggerRegisterParCmd
Parameter Data Type Default Value Description Required

TriggerMode

TriggerModeIo

-

Specifies the trigger event

EvaluateStartCondition

BOOL

-

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

Index

USINT

-

Depends on TriggerMode:
• Digital (TriggerMode 10–13, 20–23): Byte address of the input/output signal to be read
• Analog / Integer / Real (TriggerMode 30–37, 40–47, 50–57, 60–67): Target register index

BitIndex

USINT

-

Depends on TriggerMode:
• Digital (TriggerMode 10–13, 20–23): Bit address of the input/output signal to be read
• Analog / Integer / Real: Not relevant (disabled in UI)

IntValue

ARRAY[1..2] OF INT

-

Reference integer value for triggering the Action.
Relevant for TriggerMode 50–57

RealValue

ARRAY[1..2] OF REAL

-

Reference real value (analog input/output) for triggering the Action.
Relevant for TriggerMode 30–37, 40–47, 60–67

ListenerID

SINT

-

ID of the 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 to be 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) → Error if no EmitterID is defined
SetTriggerRegisterOutCmd
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

-

Applies 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 the 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 register
  SetTriggerRegister : MC_SetTriggerRegisterFB;
END_VAR
Call 
// call function block
SetTriggerRegister
(
  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  : SetTriggerRegisterParCmd;
END_VAR

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

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