MceActualPositionsIO

0.1.0

general

IO data for the MceActualPositions function.

Version history

0.1.0

24 Feb 2022 deGroot

Changes

Added:

first version

Overview

name	type	default	comment
bUseFeedbackPosition	`BOOL`	0	input: use feedback- instead of command position (for ServoFloat motions)
bPosUpdating	`BOOL`		output: position reading active
nLockTarget	`SINT`	0	input: lock specific robot/frame (0=disabled, 10=R1 world, 12=R1 uf, 20=R2 world, 22=R2 uf, 30=R3 world, 32=R3 uf, 40=R4 world, 42=R4 uf)
nSmActualPosition	`UINT`	0	in/out: state machine 1: getting actual position information
aPositions	`ARRAY [0..3] OF` `MceActualPositionData`		output: actual positions per robot
aTcpSpeeds	`ARRAY [0..3] OF REAL`		output: actual TCP speed [mm/s] (requires S2C1702=1)

Details

bUseFeedbackPosition

BOOL

(default: 0)

Used as input

By default, the system returns the actual command position, which is fine for most applications. However, if you are running a ServoFloat motion, you might want to read the feedback position.

bPosUpdating

BOOL

Used as output

Position reading active.

nLockTarget

SINT

(default: 0)

This variable can be used to temporarily lock the sequence on a specific robot and frame to get the fastest TCP position and speed updates.

This stops the TCP position updates of all other robots and frames.

value	explanation
0	disabled
10	first robot (`R1`), world frame
12	first robot (`R1`), active user frame
20	second robot (`R2`), world frame
22	second robot (`R2`), active user frame
30	third robot (`R3`), world frame
32	third robot (`R3`), active user frame
40	fourth robot (`R4`), world frame
42	fourth robot (`R4`), active user frame

nSmActualPosition

UINT

(default: 0)

State machine 1: Getting actual position information from the MotoLogix system.

value	explanation
0	idle
10	read TCP position in world
20	read TCP position in active user frame

aPositions

ARRAY [0..3] OF MceActualPositionData

Used as output

Actual positions per robot.

Check the data type for more information.

aTcpSpeeds

ARRAY [0..3] OF REAL

Used as output

Actual TCP speed per robot, in mm/s. This requires parameter S2C1702=1.

TCP speed is only applicable for manipulators (e.g. R1).

Source code

Declarations

(*IO data for the MceActualPositions function*)
TYPE MceActualPositionsIO : 

(*
 * -----------------------------------------------------------------------------
 * Name               : MceActualPositionsIO
 * Version            : 0.1.0
 * Date               : 2022-02-24
 * Author             : deGroot
 * Family             : YaskawaMce
 * Organisation       : github.com/YaskawaEurope/mlx-examples
 * 
 * -----------------------------------------------------------------------------
 * IO data for the MceActualPositions function
 * -----------------------------------------------------------------------------
 *)

STRUCT
  bUseFeedbackPosition : BOOL := 0; (*input: use feedback- instead of command position (for ServoFloat motions)*)
  bPosUpdating : BOOL; (*output: position reading active*)
  nLockTarget : SINT := 0; (*input: lock specific robot/frame (0=disabled, 10=R1 world, 12=R1 uf, 20=R2 world, 22=R2 uf, 30=R3 world, 32=R3 uf, 40=R4 world, 42=R4 uf)*)
  nSmActualPosition : UINT := 0; (*in/out: state machine 1: getting actual position information*)
  aPositions : ARRAY [0..3] OF MceActualPositionData; (*output: actual positions per robot*)
  aTcpSpeeds : ARRAY [0..3] OF REAL; (*output: actual TCP speed [mm/s] (requires S2C1702=1)*)
END_STRUCT
END_TYPE