FunctionBlocks Write MC_WriteDigitalOutputsFB - ThorstenBrach/SRCI GitHub Wiki

MC_WriteDigitalOutputsFB

📝 Description:

Write digital output group of RC.

⚙️ 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

SequenceFlag

SequenceFlag

-

Defines the target sequence in which the command will be executed

M

Execute

BOOL

-

Start of the command at the rising edge

M

ParCmd

[WriteDigitalOutputsParCmd]

-

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

CommandAborted

BOOL

-

The command was aborted by another command

M

CommandInterrupted

BOOL

-

TRUE, while command is interrupted during execution and can be continued

M

ParameterAccepted

BOOL

-

Receiving of input parameter values has been acknowledged by RC

M

OutCmd

[WriteDigitalOutputsOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

WriteDigitalOutputsParCmd
Parameter Data Type Default Value Description Required

Index

ARRAY[0..4] OF USINT

-

Specifies the byte addresses of the digital outputs to be written

OutputBitmask

ARRAY[0..4] OF BYTE

-

Specifies which output bits may be written at the corresponding byte addresses

Values

ARRAY[0..4] OF BYTE

-

Values to be written to the digital outputs

HighPriority

BOOL

-

Set to TRUE to prioritize the execution of this command in the defined target sequence

ListenerID

SINT

-

ID of the associated trigger function.
• 0: No Trigger (default) → No trigger-related behavior
• >0: Trigger → Start execution when the trigger function with the identical EmitterID is triggered
Always positive.
WriteDigitalOutputsOutCmd
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.

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup           : AxesGroup;
  /// Robot Task
  RobotTask           : MC_RobotTaskFB;
  /// Write digital outputs
  WriteDigitalOutputs : MC_WriteDigitalOutputsFB;
END_VAR
Call 
// call function block
WriteDigitalOutputs
(
  Name           := 'SRCI_Robot',
  ExecMode       := ExecutionMode.PARALLEL,
  ProcessingMode := ProcessingMode.PARALLEL,
  SequenceFlag   := SequenceFlag.NO_SEQUENCE,
  Priority       := PriorityLevel.NORMAL,
  AxesGroup      := AxesGroup
);
Usage 
VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : WriteDigitalOutputsParCmd;
END_VAR

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

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