Write servofloat settings to the robot controller.
The settings will be written to a servofloat condition file,
depending on the
ServoFloatType
setting.
type | pendant | file |
---|---|---|
axis | ROBOT » LINK SERVOFLOAT | FLOAT.CND |
linear | ROBOT » LNR. SERVOFLOAT | LNRFLOAT.CND |
More information on this in the feature description .
Version history
0.1.0
Changes
- initial version
Controller support
controller | introduced in |
---|---|
DX200 | DN2.82 |
YRC1000 | YAS4.21.02 |
YRC1000micro | YBS2.45 |
Prerequisites
prerequisite | state |
---|---|
Key switch | REMOTE |
Option function | servofloat function enabled |
Robot motion | standstill |
Overview
kind | name | type | default | comment |
---|---|---|---|---|
input | Enable | BOOL | Enable this Function Block. | |
input | RobotNumber | DINT | 0 | The robot commanded by this instruction instance. Valid values are 0 to MLX.NumberOfRobots-1. |
input | ServoFloatData | MLxAppDataServoFloat | servofloat setting data | |
input | ServoFloatNumber | DINT | 0 | target file [0-7=#1-#8] |
input | ServoFloatType | DINT | type of servofloat (0=axis, 1=linear) | |
output | Sts_EN | BOOL | Enable bit. This bit will stay high as long as the instruction is enabled. | |
output | Sts_DN | BOOL | Done bit. This bit will turn high when the instruction has finished. | |
output | Sts_ER | BOOL | Error bit. Indicates an error during instruction execution. Call MLxGetErrorDetail for more information. | |
in_out | MLX | MLxData | The MLxData Controller Scope tag. |
Details
Enable
BOOL
For starting this function block. On a rising edge of this input the
internal processing will start which is indicated by the Sts_EN
status signal.
Internal processing steps typically involve:
- checking if required conditions are met
- sending command data to the robot controller (on the next possible occasion)
- receiving answer data from the robot controller
Since the status bits will only be updated as long as the Enable
is active, it is necessary to keep the input enabled until the FB has
completed its entire lifecycle which is signalled by the Sts_DN
(done) status signal.
Disabling the input too early can mess up the MotoLogix command interface and lead to a hangup situation.
RobotNumber
DINT
Specifies the motion device targeted by this MotoLogix function.
The MotoLogix data packet supports a maximum of 4 motion devices on one robot contoller. Examples of motion devices are:
- manipulators (e.g. GP7 robot)
- base axes (e.g. gantry system)
- station axes (e.g. servo gripper)
Each motion device gets its own RobotNumber
(and slot in the data packet).
Some examples:
two robots: R1
and R2
[0] // R1
[1] // R2
[2] // not used
[3] // not used
two robots on a linear track R1B1
and R2B2
[0] // R1
[1] // R2
[2] // B1
[3] // B2
robot with a servo gripper R1S1
[0] // R1
[1] // S1
[2] // not used
[3] // not used
The numbering is fixed in the configuration of the robot controller
(cannot be changed by MotoLogix).
MLxRobotGetProperties
can be used to read this configuration.
It will give you practical information for each motion device
such as: type, axis names, speed- and motion range.
value | explanation |
---|---|
0-3 | Robot number (use
MLxRobotGetProperties
to see the mapping). |
ServoFloatData
MLxAppDataServoFloat
The servofloat data to be written. Check the data type for more info.
ServoFloatNumber
DINT
Index of the servofloat settings file.
value | explanation |
---|---|
0-7 | servofloat condition file #1-#8 |
ServoFloatType
DINT
Type of servofloat.
value | explanation |
---|---|
0 | axis servofloat |
1 | linear (cartesian) servofloat |
Sts_EN
BOOL
Status Enabled signal which tells that the FB is currently
enabled. It reflects the status of the Enable
input.
A common use for Sts_EN
is in combination with the Sts_DN
(or Sts_PC
) signal.
This filters the old status which is important because in
the PLC scan where the FB gets enabled the Sts_DN
still has the
status from its previous run (which is probably high) until the FB call
is processed.
CASE state OF
...
10:
// enabling the FB
someMLxFB.Enable := TRUE;
// condition to proceed after FB finished
// --> Sts_DN still has its old status from previous run
IF (someMLxFB.Sts_DN AND someMLxFB.Sts_EN) THEN
state := state + 10;
END_IF;
20:
...
END_CASE;
// FB call
someMLxFB(...);
// --> now Sts_DN has the new status
Sts_DN
BOOL
Status done signal which tells that the FB has finished.
This means the Enable
input can now safely be disabled as the FB has
completed its lifecycle.
This status signal keeps its status until the next time this FB is
enabled. See Sts_EN
on how to filter any old status.
Sts_ER
BOOL
Status error signal which tells that the FB has failed.
The Enable
input can now be disabled as the FB has aborted its lifecycle.
Now it is important to find the cause of the error. In most cases the robot controller has generated an alarm which explains what the problem is.
Recommended next steps:
- Read the alarm details using
MLxGetErrorDetail
- Fix the issue described in the alarm details (e.g. parameter out of range)
- Reset the alarm using
MLxReset
(also clears the motion queue) orMLxResetAndHold
(resets the alarm but leaves the motion queue in place). - Restart the application
If Sts_ER
becomes active but the robot controller does not generate an alarm
you should check the SystemState
and the conditions/prerequisites for
using the FB.
This status signal keeps its status until the next time this FB is
enabled. See Sts_EN
on how to filter any old status.
MLX
MLxData
The MotoLogix variable which acts as the shared memory for a MotoLogix system.
As the PLC runs through its scan cycle each active MotoLogix FB will read from- and write to this MotoLogix variable.
It is also used for processing the data red from- and sent to the robot controller.
There are a few important rules:
MLxCommunicationRead
must be called at the very beginning of the PLC scan cycle.MLxCommunicationWrite
must be called at the very end of the PLC scan cycle.- All other MotoLogix FB’s used in your application must be called inbetween.
- All off this must be handled by the same PLC task, respecting above rules.
Failing to follow above rules can lead to inconsistent data being sent to the robot controller which could result in unexpected motion.
Implementation
fbRobotSetServoFloatProperties : ARRAY[0..0] OF MLxRobotSetServoFloatProperties;
// fbRobotSetServoFloatProperties[0].Enable := ;
// fbRobotSetServoFloatProperties[0].RobotNumber := ;
// fbRobotSetServoFloatProperties[0].ServoFloatData := ;
// fbRobotSetServoFloatProperties[0].ServoFloatNumber := ;
// fbRobotSetServoFloatProperties[0].ServoFloatType := ;
fbRobotSetServoFloatProperties[0]( MLX := dummy );
// := fbRobotSetServoFloatProperties[0].Sts_EN;
// := fbRobotSetServoFloatProperties[0].Sts_DN;
// := fbRobotSetServoFloatProperties[0].Sts_ER;