MceManualMotionIO

0.1.0

jog

IO data for the MceManualMotion function.

Version history

0.1.0

14 Apr 2022 deGroot

Changes

Added:

first version

Overview

name	type	default	comment
nMlxNumber	`USINT`	0	input: number of the MotoLogix system (for detecting changes)
nRobotNumber	`USINT`	0	input: motion device targeted by this function [0 to 3]
nOperatingMode	`USINT`	0	input: machine operating mode [0=none, 1=manual, 2=semi-auto, 3=auto]
bSystemReady	`BOOL`	0	input: system ready for running motion commands
bInchingMode	`BOOL`	0	input: inching mode (single short motion at a time)
bIdle	`BOOL`		output: state machine: idle
bBusy	`BOOL`		output: state machine: busy
bCoasting	`BOOL`		output: state machine: coasting
bDone	`BOOL`		output: state machine: done
bError	`BOOL`		output: state machine: error
nErrorCode	`UDINT`	0	output: state machine error code
aJogRobotAxisNeg	`ARRAY [0..5] OF BOOL`	[0, 0, 0, 0, 0, 0]	input: jog manipulator: negative direction
aJogRobotAxisPos	`ARRAY [0..5] OF BOOL`	[0, 0, 0, 0, 0, 0]	input: jog manipulator: positive direction
aJogRobotAxisNegIndicator	`ARRAY [0..5] OF BOOL`		output: indicators for jog buttons
aJogRobotAxisPosIndicator	`ARRAY [0..5] OF BOOL`		output: indicators for jog buttons
nJogType	`USINT`	0	input: type of jog [0=axis, 1=cartesian (linear)]
nCoordFrame	`USINT`	0	input: coord frame for cartesian jog [0=world, 1=tool, 2=user]
nUserFrame	`USINT`	0	input: selected user frame for cartesian jog
nTool	`USINT`	1	input: selected tool for cartesian jog
fSpeed	`REAL`	5	input: speed rate [0.1 to 100% of maximum jog]
nSmManualMotion	`UINT`	0	in/out: state machine 1: motion commands
nSmSettings	`UINT`	0	in/out: state machine 2: update settings for cartesian motion
tIdleTime	`TIME`	T#10ms	input: waiting time between jog commands
tCoastTime	`TIME`	T#110ms	input: coasting time after last jog command (set to at least value of S3C1385)

Details

nMlxNumber

USINT

(optional, default: 0)

Used as input

Specifies the number of the MotoLogix system mapped to this function.

This input is monitored for changes (will reset the state machine and send user frame and tool settings on the next jog command).

nRobotNumber

USINT

(default: 0)

Used as input

Specifies the motion device targeted by this function.

value	explanation
0-3	Robot number (use `MLxRobotGetProperties` to see the mapping).

nOperatingMode

USINT

(default: 0)

Machine operating mode. This signal is produced by MceOperatingMode .

value	explanation
0	none
1	manual mode
2	semi-automatic mode (step by step)
3	automatic mode

bSystemReady

BOOL

(default: 0)

Used as input

System ready for running motion commands. This signal is produced by MceStartStop .

bInchingMode

BOOL

(default: 0)

Used as input

In inching mode a rising edge of a jog input leads to just a single relative motion command with a very short travel distance. This is useful for the last really fine jog motions in scenarios where highest precision is required such as defining a user frame.

Jog type	Travel distance
axis (`S/L/U/R/B/T`)	0.1 deg
cartesian, translational (`X/Y/Z`)	0.1 mm
cartesian, rotational (`Rx/Ry/Rz`)	0.1 deg

bIdle

BOOL

Used as output

State machine in idle state.

bBusy

BOOL

Used as output

State machine in busy state.

bCoasting

BOOL

Used as output

State machine in coasting state.

bDone

BOOL

Used as output

State machine in done state.

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

aJogRobotAxisNeg

ARRAY [0..5] OF BOOL

(default: [0, 0, 0, 0, 0, 0])

Used as input

Jog manipulator axis in negative direction.

// nJogType 0 (axis)
[0]     // S
[1]     // L
[2]     // U
[3]     // R
[4]     // B
[5]     // T

// nJogType 1 (cartesian)
[0]     // X
[1]     // Y
[2]     // Z
[3]     // Rx
[4]     // Ry
[5]     // Rz

aJogRobotAxisPos

ARRAY [0..5] OF BOOL

(default: [0, 0, 0, 0, 0, 0])

Used as input

Jog manipulator axis in positive direction.

// nJogType 0 (axis)
[0]     // S
[1]     // L
[2]     // U
[3]     // R
[4]     // B
[5]     // T

// nJogType 1 (cartesian)
[0]     // X
[1]     // Y
[2]     // Z
[3]     // Rx
[4]     // Ry
[5]     // Rz

aJogRobotAxisNegIndicator

ARRAY [0..5] OF BOOL

Used as output

Connect these signals to the indicator lights of the jog buttons.

value	explanation
off	jog not active
on	jog active

aJogRobotAxisPosIndicator

ARRAY [0..5] OF BOOL

Used as output

Connect these signals to the indicator lights of the jog buttons.

value	explanation
off	jog not active
on	jog active

nJogType

USINT

(default: 0)

Used as input

Type of jog motion.

value	explanation
0	axis motion
1	cartesian motion (linear)

nCoordFrame

USINT

(default: 0)

Used as input

Coord frame for the cartesian jog motion.

value	explanation
0	World frame
1	Tool frame
2	User frame

nUserFrame

USINT

(default: 0)

Used as input

Selected user frame for cartesian jog (range: 0-GVL.USERFRAMES_UBOUND).

This input is monitored for changes. A change will activate the selected user frame on the next jog command or at standstill.

nTool

USINT

(default: 1)

Used as input

Selected tool for cartesian jog (range: 0-63).

This input is monitored for changes. A change will activate the selected tool on the next jog command or at standstill.

fSpeed

REAL

(default: 5)

Used as input

Speed as percentage of rated maximum jog (range: 0.1-100%).

nSmManualMotion

UINT

(default: 0)

State machine 1: Handling the manual motion.

value	explanation
0	idle, not ready for jog
10	ready for jog
11	jog selection
15	update TCP settings
20	jog axis with MLxRobotJogAxes
21	jog axis - idle time
22	jog axis - coasting
25	inch axis with MLxRobotMoveAxisRelative
30	jog TCP with MLxRobotJogTCP
31	jog TCP - idle time
32	jog TCP - coasting
35	inch TCP with MLxRobotMoveLinearRelative
50	done
99	error

nSmSettings

UINT

(default: 0)

State machine 2: Update settings for cartesian motion.

value	explanation
0	idle
10	select tool with MLxRobotSelectTool
20	set user frame with MLxRobotSetUserFrame
30	zero-distance motion with MLxRobotMoveAxisRelative (to update actual position)
40	done
99	error

tIdleTime

TIME

(optional, default: T#10ms)

Defines a waiting time between consecutive jog commands. This allows other MotoLogix commands to be sent in between the flow of jog commands.

tCoastTime

TIME

(optional, default: T#110ms)

Defines the coasting time which applies after the last jog command was processed. This is used by the state machine to determine when the jog motion has completed.

This value should be set to at least the value of the jog coast setting defined in robot parameter S3C1385.

Source code

Declarations

(*IO data for the MceManualMotion function*)
TYPE MceManualMotionIO : 

(*
 * -----------------------------------------------------------------------------
 * Name               : MceManualMotionIO
 * Version            : 0.1.0
 * Date               : 2022-04-14
 * Author             : deGroot
 * Family             : YaskawaMce
 * Organisation       : github.com/YaskawaEurope/mlx-examples
 * 
 * -----------------------------------------------------------------------------
 * IO data for the MceManualMotion function
 * -----------------------------------------------------------------------------
 *)

STRUCT
  nMlxNumber : USINT := 0; (*input: number of the MotoLogix system (for detecting changes)*)
  nRobotNumber : USINT := 0; (*input: motion device targeted by this function [0 to 3]*)
  nOperatingMode : USINT := 0; (*input: machine operating mode [0=none, 1=manual, 2=semi-auto, 3=auto]*)
  bSystemReady : BOOL := 0; (*input: system ready for running motion commands*)
  bInchingMode : BOOL := 0; (*input: inching mode (single short motion at a time)*)
  bIdle : BOOL; (*output: state machine: idle*)
  bBusy : BOOL; (*output: state machine: busy*)
  bCoasting : BOOL; (*output: state machine: coasting*)
  bDone : BOOL; (*output: state machine: done*)
  bError : BOOL; (*output: state machine: error*)
  nErrorCode : UDINT := 0; (*output: state machine error code*)
  aJogRobotAxisNeg : ARRAY [0..5] OF BOOL := [0, 0, 0, 0, 0, 0]; (*input: jog manipulator: negative direction*)
  aJogRobotAxisPos : ARRAY [0..5] OF BOOL := [0, 0, 0, 0, 0, 0]; (*input: jog manipulator: positive direction*)
  aJogRobotAxisNegIndicator : ARRAY [0..5] OF BOOL; (*output: indicators for jog buttons*)
  aJogRobotAxisPosIndicator : ARRAY [0..5] OF BOOL; (*output: indicators for jog buttons*)
  nJogType : USINT := 0; (*input: type of jog [0=axis, 1=cartesian (linear)]*)
  nCoordFrame : USINT := 0; (*input: coord frame for cartesian jog [0=world, 1=tool, 2=user]*)
  nUserFrame : USINT := 0; (*input: selected user frame for cartesian jog*)
  nTool : USINT := 1; (*input: selected tool for cartesian jog*)
  fSpeed : REAL := 5; (*input: speed rate [0.1 to 100% of maximum jog]*)
  nSmManualMotion : UINT := 0; (*in/out: state machine 1: motion commands*)
  nSmSettings : UINT := 0; (*in/out: state machine 2: update settings for cartesian motion*)
  tIdleTime : TIME := T#10ms; (*input: waiting time between jog commands*)
  tCoastTime : TIME := T#110ms; (*input: coasting time after last jog command (set to at least value of S3C1385)*)
END_STRUCT
END_TYPE