MceAlarmsIO

0.1.1

general

IO data for the MceAlarms function.

Version history

0.1.1

24 Feb 2022 deGroot

Changes

Changed:

variable comments

show full history

0.1.0

21 Feb 2022 deGroot

Changes

Added:

first version

Overview

name	type	default	comment
bReset	`BOOL`	0	input: reset alarm (uses rising edge)
bResetIndicator	`BOOL`		output: indicator for reset button (off: no alarms, on: one or more alarms active, blink fast: reset busy)
bAlarmActive	`BOOL`		output: one or more alarms active
bError	`BOOL`		output: state machine: error
nErrorCode	`UDINT`	0	output: state machine error code
nAlarms	`USINT`		output: number of active alarms
nSmReadAlarms	`UINT`	0	in/out: state machine 1: getting alarm information
nSmResetAlarm	`UINT`	0	in/out: state machine 2: alarm reset
aAlarms	`ARRAY [0..GVL.ALARMS_UBOUND] OF` `MceAlarmData`		output: list of active robot alarms

Details

bReset

BOOL

(default: 0)

Used as input

A rising edge of this input will reset the robot alarms.

This input can be connected to an HMI momentary button.

bResetIndicator

BOOL

Used as output

Connect this signal to the indicator light of the reset button.

value	explanation
1) off	no alarms
2) blinking	one or more alarms active
3) fast blinking	reset busy

bAlarmActive

BOOL

Used as output

This tells the system is having one or more alarms.

bError

BOOL

Used as output

State machine in error state. For details see nErrorCode .

nErrorCode

UDINT

(default: 0)

Used as output

Details on the state machine error.

Format aa.bbb

value	explanation
a	number of the state machine (1=first, 2=second etc.)
b	state where the error occured

nAlarms

USINT

Used as output

This tells how many alarms are active.

nSmReadAlarms

UINT

(default: 0)

State machine 1: Getting alarm information from the MotoLogix system.

value	explanation
0	idle, wait for new alarm data
10	prepare reading
20	read alarm with MLxGetErrorDetail
30	check if done
99	state machine error

nSmResetAlarm

UINT

(default: 0)

State machine 2: Resetting the alarms.

value	explanation
0	idle
10	reset alarm with MLxResetAndHold
99	state machine error

aAlarms

ARRAY [0..GVL.ALARMS_UBOUND] OF MceAlarmData

List of active robot alarms.

Check the data type for more information.

Source code

Declarations

(*IO data for the MceAlarms function*)
TYPE MceAlarmsIO : 

(*
 * -----------------------------------------------------------------------------
 * Name               : MceAlarmsIO
 * Version            : 0.1.1
 * Date               : 2022-02-24
 * Author             : deGroot
 * Family             : YaskawaMce
 * Organisation       : github.com/YaskawaEurope/mlx-examples
 * 
 * -----------------------------------------------------------------------------
 * IO data for the MceAlarms function
 * -----------------------------------------------------------------------------
 *)

STRUCT
  bReset : BOOL := 0; (*input: reset alarm (uses rising edge)*)
  bResetIndicator : BOOL; (*output: indicator for reset button (off: no alarms, on: one or more alarms active, blink fast: reset busy)*)
  bAlarmActive : BOOL; (*output: one or more alarms active*)
  bError : BOOL; (*output: state machine: error*)
  nErrorCode : UDINT := 0; (*output: state machine error code*)
  nAlarms : USINT; (*output: number of active alarms*)
  nSmReadAlarms : UINT := 0; (*in/out: state machine 1: getting alarm information*)
  nSmResetAlarm : UINT := 0; (*in/out: state machine 2: alarm reset*)
  aAlarms : ARRAY [0..GVL.ALARMS_UBOUND] OF MceAlarmData; (*output: list of active robot alarms*)
END_STRUCT
END_TYPE