Initial Start-Up

Overview

This chapter explains what steps have to be taken to operate a Lexium T Robot in the program.

The required libraries are:

oSchneiderElectricRobotics

oSchneiderElectricRobotics Parameters

oRobotic or RoboticModule

Instances

Every Lexium T Robot requires its own instance of SER.FB_RoboticTSeries. (for example fbTSeries: SER.FB_RoboticTSeries) and its instance of ROB.FB_Robot (for example fbRobot: ROB.FB_Robot) or an instance of the RM.FB_RoboticModule.

Initialize

Initialize the Lexium T Robot by calling the method fbTSeries.InitializeRobot().

For the main drives A and B, the parameter needs to be adapted.

Connect the FB_RoboticTSeries to the FB_Robot by configuring the FB_Robot. Call fbRobot.ifConfiguration.SchneiderElectricRobot() for the RoboticModule and accordingly stRobotInterface.iq_ifConfiguration.SchneiderElectricRobot(). At the input i_ifRobot, assign fbTSeries.ifSchneiderElectricRobot.

The configuration is completed by calling the methods SetEmergencyParameter() and ConfigDone().

See example below.

Additional Configuration

The Lexium T Robot can be adapted with several methods:

oSetKinematicParameter()

oSetControlLoopParameter()

Call SER.SR_SlowCyclicExecution

Call the program SER.SR_SlowCyclicExecution in a task with task interval 10 ms.

The program has to be called only once, even if several robots of SchneiderElectricRobotics are used.

Declaration

VAR
   ifConfiguration : ROB.IF_RobotConfiguration;
   //ifConfiguration : RM.IF_Configuration;
   fbTSeries : SER.FB_RobotTSeries;
   etDiag : GD.ET_Diag;
   etDiagExt : ROB.ET_DiagExt;
   //etDiagExtRm : RM.ET_DiagExt;
   etDiagExtSer : SER.ET_DiagExt;
   etDiagExtSerp : SERP.ET_DiagExt;
   sMsg : STRING[80];
END_VAR

Code

// Get interface instance
ifConfiguration := fbRobot.ifConfiguration;
// ifConfiguration := stRobotInterface.iq_ifConfiguration;
// Initialize T-Series
fbTSeries.InitializeRobot(i_etRobotType := SERP.ET_RobotTSeries.VRK,
                              i_ifDriveA := DRV_RobotDriveA,
                              i_ifDriveB := DRV_RobotDriveB,
                              i_etConfigurationA := SERP.ET_RobotTSeriesConfiguration. ,
                              i_etConfigurationB := SERP.ET_RobotTSeriesConfiguration. ,
                              i_etPlane := ROB.ET_WorkingPlane.XZ,
                              q_etDiag => etDiag,
                              q_etDiagExt => etDiagExt,
                              q_sMsg => sMsg);

// Configure T-Series
ifConfiguration.SchneiderElectricRobot( i_ifRobot := fbTSeries.ifSchneiderElectricRobot,
                                       q_etDiag => etDiag,
                                       q_etDiagExt => etDiagExtSer,
                                       q_sMsg => sMsg);

// Call configuration method for the emergency parameter
ifConfiguration.SetEmergencyParameter( i_lrMaxDeceleration := 10000.0,
                                       i_lrRamp := 25.0,
                                       q_etDiag => etDiag,
                                       q_etDiagExt => etDiagExt,
                                       q_sMsg => sMsg);

// Sign config done
ifConfiguration.ConfigDone(q_etDiag => etDiag,
                           q_etDiagExt => etDiagExt,
                           q_sMsg => sMsg);

Necessary Parameters for Applied Drives

Parameters for Iogging Main Axes A, B

Parameters for Jogging Cartesian Direction X, Y, Z