MceWarningsIO

0.1.1

General

IO data for the MceWarnings 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
bPollingCompleted	`BOOL`		output: one-shot every time the polling cycle is completed
bError	`BOOL`		output: state machine: error
nErrorCode	`UDINT`	0	output: state machine error code
nWarnings	`USINT`		output: number of active warnings
tPollInterval	`TIME`	T#100ms	input: min interval for polling robot warnings
nSmReadWarnings	`UINT`	0	in/out: state machine 1: getting warning information
aWarnings	`ARRAY [0..GVL.WARNINGS_UBOUND] OF STRING[162]`		output: list of active robot warnings

Details

bPollingCompleted

BOOL

Used as output

This one-shot signal fires every time a full polling cycle has completed. It can be useful for further processing of the warning data (e.g. scrolling on HMI).

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

nWarnings

USINT

Used as output

This tells how many warnings are active. It is updated at bPollingCompleted .

tPollInterval

TIME

(default: T#100ms)

Minimum interval for polling robot warnings.

The following rules apply:

Set this time to at least two times your plc scan time
Don’t use a setting lower than 50ms

In certain SytemStates this interval will be multiplied by five. This will free up communication resources and lead to faster response times for more important commands such as motions.

nSmReadWarnings

UINT

(default: 0)

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

value	explanation
0	idle
10	read warning with MLxGetMessageDetail
20	poll delay
30	poll sequence complete
99	state machine error

aWarnings

ARRAY [0..GVL.WARNINGS_UBOUND] OF STRING[162]

List of active robot warnings. It is updated at bPollingCompleted .

Source code

Declarations

(*IO data for the MceWarnings function*)
TYPE MceWarningsIO : 

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

STRUCT
  bPollingCompleted : BOOL; (*output: one-shot every time the polling cycle is completed*)
  bError : BOOL; (*output: state machine: error*)
  nErrorCode : UDINT := 0; (*output: state machine error code*)
  nWarnings : USINT; (*output: number of active warnings*)
  tPollInterval : TIME := T#100ms; (*input: min interval for polling robot warnings*)
  nSmReadWarnings : UINT := 0; (*in/out: state machine 1: getting warning information*)
  aWarnings : ARRAY [0..GVL.WARNINGS_UBOUND] OF STRING[162]; (*output: list of active robot warnings*)
END_STRUCT
END_TYPE