FunctionBlocks Write MC_WriteSystemVariableFB - ThorstenBrach/SRCI GitHub Wiki

MC_WriteSystemVariableFB

📝 Description:

Change value of specific vendor parameter.

⚙️ 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

[WriteSystemVariableParCmd]

-

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

RestartRequested

BOOL

-

TRUE, when parameters were overwritten but not activated on RC until a restart of the RC

M

OutCmd

[WriteSystemVariableOutCmd]

-

Command specific outputs

M

⚙️ FB Structures:

WriteSystemVariableParCmd
Parameter Data Type Default Value Description Required

RCParameter

BOOL

-

Defines the parameter list to be used:
• FALSE: Standardized parameter list (default) – Parameters read from RC standard list
• TRUE: Manufacturer-specific parameter list – Parameters read from vendor-specific list

ParameterID

ARRAY[0..7] OF UINT

-

Requested parameter ID in the selected parameter list.
• 0: Undefined (default)
• 1..65 535: Valid parameter IDs

SubParameterID

ARRAY[0..7] OF USINT

-

ID of the subparameter in the selected parameter list.
• 0: Default – for parameters without subparameters
• 1..255: Index for parameters with subparameters

DataType

ARRAY[0..7] OF DataType

-

Parameter data type as specified in Table 6-621

Data_0

ARRAY[0..3] OF BYTE

-

Parameter data for ParameterID[0] and SubParameterID[0]

Data_1

ARRAY[0..3] OF BYTE

-

Parameter data for ParameterID[1] and SubParameterID[1]

Data_2

ARRAY[0..3] OF BYTE

-

Parameter data for ParameterID[2] and SubParameterID[2]

Data_3

ARRAY[0..3] OF BYTE

-

Parameter data for ParameterID[3] and SubParameterID[3]

Data_4

ARRAY[0..3] OF BYTE

-

Parameter data for ParameterID[4] and SubParameterID[4]

Data_5

ARRAY[0..3] OF BYTE

-

Parameter data for ParameterID[5] and SubParameterID[5]

Data_6

ARRAY[0..3] OF BYTE

-

Parameter data for ParameterID[6] and SubParameterID[6]

Data_7

ARRAY[0..3] OF BYTE

-

Parameter data for ParameterID[7] and SubParameterID[7]

ListenerID

SINT

-

ID of the associated trigger function.
• 0: No Trigger (default) – No trigger behavior
• >0: Trigger – Start when the trigger function with the identical EmitterID is triggered
Always positive.
WriteSystemVariableOutCmd
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.

RestartRequested

BOOL

-

TRUE if software limits were overwritten, but not yet activated on the RC.
Changes take effect only after a restart of the RC.

⏳ Timing Diagram:

Work in progress – more content coming soon.

📋 Examples:

Declaration 
VAR_GLOBAL
  /// Robot assignment of function
  AxesGroup           : AxesGroup;
  /// Robot Task
  RobotTask           : MC_RobotTaskFB;
  /// Writes system variable
  WriteSystemVariable : MC_WriteSystemVariableFB;
END_VAR
Call 
// call function block
WriteSystemVariable
(
  Name           := 'SRCI_Robot',
  ExecMode       := ExecutionMode.PARALLEL,
  ProcessingMode := ProcessingMode.PARALLEL,
  SequenceFlag   := SequenceFlag.PRIMARY_SEQUENCE,
  Priority       := PriorityLevel.NORMAL,
  AxesGroup      := AxesGroup
);
Usage 
VAR_INPUT
  /// Start command execution
  Execute : BOOL;
  /// Command parameter
  ParCmd  : WriteSystemVariableParCmd;
END_VAR

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

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