Introduction ProfileOptional - ThorstenBrach/SRCI GitHub Wiki

Functions of the Profile: Optional

Function Description M/O

MC_ReadDHParameterFB

Read DH parameters of robot

O

MC_RestartControllerFB

Restart/reboot of the RC

O

MC_ReadActualTCPVelocityFB

Read actual TCP velocity

O

MC_UserLoginFB

Login on RC from PLC

O

MC_SwitchLanguageFB

Switch language of robot teach pendant from PLC

O

MC_WriteRobotSWLimitsFB

Change robot limits of robot axes (degree)

O

MC_SetOperationModeFB

Switch operation mode of RC (Automatic External, T1 External, T2 External)

O

MC_ReadWorkAreaFB

Read configuration of defined work areas

O

MC_WriteWorkAreaFB

Write configuration to Define work area

O

MC_ActivateWorkAreaFB

Enable/Disable work areas of RC and check if TCP is inside/outside of active work area

O

MC_MonitorWorkAreaFB

Monitor enabled work areas

O

MC_MoveApproachLinearFB

Linear Move to target position through auxiliary position defined by offset in all dimensions (movement to target position linear)

O

MC_MoveDepartLinearFB

Linear Move from actual position to destination through auxiliary position defined by offset in all dimensions (movement to target position linear)

O

MC_MoveApproachDirectFB

Direct Move to target position through auxiliary position defined by offset in all dimensions (movement to target position PTP)

O

MC_MoveDepartDirectFB

Direct Move from actual position to destination through auxiliary position defined by offset in all dimensions (movement to the target position PTP)

O

MC_SearchHardStopFB

Move robot into contact with obstruction (mechanical Limit) and hold it in this position

O

MC_SearchHardStopJFB

Move robot into contact with obstruction (mechanical Limit) and hold it in this position

O

MC_MovePickPlaceLinearFB

Command several interpolated movement of robot arm on linear paths from actual position

O

MC_MovePickPlaceDirectFB

Commands interpolated movement of robot arm on a partly undefined path from actual position

O

MC_ActivateConveyorTrackingFB

Activate conveyor tracking mode

O

MC_RedefineTrackingPosFB

Redefine tracking position for conveyor tracking

O

MC_SyncToConveyorFB

Synchronize robot with conveyor

O

MC_ConfigureConveyorFB

Configure conveyor parameters

O

MC_MoveSuperImposedFB

Activate superimposed motion of TCP to defined motion

O

MC_MoveSuperImposedDynamicFB

Activate superimposed motion of TCP to defined motion

O

MC_ReadAnalogInputFB

Read analog input of RC

O

MC_ReadAnalogOutputFB

Read analog output of RC

O

MC_WriteAnalogOutputFB

Write analog output of RC

O

MC_MeasuringInputFB

Capture trigger Position, measuring input

O

MC_AbortMeasuringInputFB

Abort triggering of Position, measuring input

O

MC_SetTriggerMotionFB

Trigger an action based on a motion related parameter (e.g. progress of trajectory)

O

MC_OpenBrakeFB

Release robot arm’s brakes

O

MC_CallSubprogramFB

Call subprogram stored in RC from PLC

O

MC_PathAccuracyModeFB

Switch path mode between high and low accuracy

O

MC_AvoidSingularityFB

Activate/Deactivate functionality to avoid singularities

O

MC_ForceControlFB

Enables the RC to apply user defined force/ torque through RA’s TCP movement

O

MC_ForceLimitFB

Commands specified reaction from RA when defined force/torque detected

O

MC_ReadActualForceFB

Read actual force/torque at TCP

O

MC_BrakeTestFB

Activate robot cycle brake test and give feedback to PLC

O

MC_SoftSwitchTcpFB

Push robot: Robot calculates opposite vector and moves slowly in that direction

O

MC_CreateSplineFB

Create spline on RC from positions stored in PLC

O

MC_DeleteSplineFB

Delete spline previously created on RC

O

MC_MoveSplineFB

Move spline previously created on RC

O

MC_DynamicSplineFB

Create and move spline on RC simultaneously

O

MC_LoadMeasurementAutomaticFB

Automatic detection of load data

O

MC_LoadMeasurementSequentialFB

Sequential detection of load data

O

MC_CollisionDetectionFB

Turn on/off the collision detection

O

MC_FreeDriveFB

Move the robot axes by hand

O

MC_UnitMeasurementFB

Measure the length of objects in the cartesian space, execution time for specified section of a job or signal output time of a specified signal

O

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