FunctionBlocks Trigger MC_WaitForTriggerFB - ThorstenBrach/SRCI GitHub Wiki
VAR_INPUT
Parameter | Data Type | Default Value | Description | Required |
---|---|---|---|---|
InternalLogger |
- |
For internal usage only |
- |
|
ExternalLogger |
- |
For internal usage only |
- |
|
LogLevel |
- |
For internal usage only |
- |
|
Name |
- |
User defined command name |
O |
|
ExecMode |
ExecutionMode.SEQUENCE_PRIMARY |
Execution mode of the command |
M |
|
Priority |
PriorityLevel.NORMAL |
Priority of the command |
M |
|
ProcessingMode |
- |
ProcessingMode |
M |
|
SequenceFlag |
- |
Defines the target sequence in which the command will be executed |
M |
|
Execute |
- |
Start of the command at the rising edge |
M |
|
ParCmd |
- |
Command specific parameter |
M |
VAR_IN_OUT
Parameter | Data Type | Default Value | Description | Required |
---|---|---|---|---|
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 |
- |
Error occurred during execution. See ErrorID for details |
M |
|
ErrorID |
- |
Error ID as raw value for error diagnosis |
M |
|
ErrorIDEnum |
- |
Error ID as enumeration for error diagnosis |
M |
|
ErrorAddTxt |
- |
Additional error text information |
M |
|
WarningID |
- |
Warning ID as raw value for identifying warnings |
M |
|
WarningIDEnum |
- |
Warning ID as enumeration for identifying warning |
M |
|
InfoID |
- |
Info ID for as raw value for identifying additional information |
M |
|
InfoIDEnum |
- |
Info ID for as enumeration for identifying additional information |
M |
|
Done |
- |
Command executed successfully |
M |
|
Busy |
- |
Function block is being processed |
M |
|
CommmandBuffered |
- |
Command was transferred to the robot-controller and confirmed |
M |
|
OutCmd |
- |
Command specific outputs |
M |
WaitForTriggerParCmd
Parameter | Data Type | Default Value | Description | Required |
---|---|---|---|---|
ListenerID |
ID of the associated trigger function. |
|||
ConditionalWait |
- |
Defines the time at which the trigger can be reacted to. |
WaitForTriggerOutCmd
Parameter | Data Type | Default Value | Description | Required |
---|---|---|---|---|
OriginID |
- |
Unique system-generated ID of the "Action" when the function is triggered. |
||
InvocationCounter |
- |
Applies to ListenerID >0. Number of successful trigger-based command invocations. |
Declaration
VAR_GLOBAL
/// Robot assignment of function
AxesGroup : AxesGroup;
/// Robot Task
RobotTask : MC_RobotTaskFB;
/// Wait for trigger
WaitForTrigger : MC_WaitForTriggerFB;
END_VAR
Call
// call function block
WaitForTrigger
(
Name := 'SRCI_Robot',
ExecMode := ExecutionMode.SEQUENCE_PRIMARY,
ProcessingMode := ProcessingMode.TRIGGER_BUFFERED,
SequenceFlag := SequenceFlag.PRIMARY_SEQUENCE,
Priority := PriorityLevel.NORMAL,
AxesGroup := AxesGroup
);
Usage
VAR_INPUT
/// Start command execution
Execute : BOOL;
/// Command parameter
ParCmd : WaitForTriggerParCmd;
END_VAR
VAR_OUTPUT
/// Error ID
ErrorID : DINT;
/// Error addition text
ErrorAddTxt : STRING;
/// Command outputs
OutCmd : WaitForTriggerOutCmd;
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)
WaitForTrigger.ParCmd := ParCmd;
// forwarding command output(s)
OutCmd := WaitForTrigger.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 WaitForTrigger.Busy ) AND
( NOT WaitForTrigger.Error ))
THEN
// start execution
WaitForTrigger.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 (WaitForTrigger.Error)
THEN
ErrorID := WaitForTrigger.ErrorID;
ErrorAddTxt := CONCAT('_stepCmd = ' , DINT_TO_STRING(_stepCmd));
END_IF
END_IF
2: // Wait Execution done ?
IF (( NOT WaitForTrigger.Busy ) AND
( WaitForTrigger.Done ))
THEN
// stop execution
WaitForTrigger.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 (WaitForTrigger.Error)
THEN
ErrorID := WaitForTrigger.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