SR_<Robot S-Series Name> - General Information

SR_<Robot S-Series Name> - General Information

Overview

Type:	Program
Available as of:	V1.0.1.0

This chapter provides information on:

oFunctional Description

oInterface in Case of Node Type 'PacDrive 3 Template'

oInterface in Case of Node Type 'Non Template'

Functional Description

Smart Template Robot S-Series Module.

G-SE-0070101.1.png

Interface in Case of Node Type 'PacDrive 3 Template'

Input/Output	Data type	Description
iq_stStandardModuleItf	TPL.ST_StandardModuleInterface	Standard module interface (see ST_StandardModuleInterface).
iq_stExceptionList	TPL.ST_ExceptionList	Exception List (see ST_ExceptionList).
iq_stLogDataList	TPL.ST_LogDataList	Log Data List (see ST_LogDataList).
q_ifRobotFeedback	ROB.IF_RobotFeedback	Robot feedback interface (see IF_RobotFeedback).

Interface in Case of Node Type 'Non Template'

Input	Data type	Description
i_xEnable	BOOL	A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU. A deactivated POU does not execute any action.
i_xAsyncStop	BOOL	Initiate an immediate asynchronous stop. The process can no longer be accessed while the exception is pending. No commands can be executed while the reaction is pending. You may still execute certain special operating modes and commands required for exception elimination.
i_xSyncStopEL	BOOL	Initiate a synchronous stop (monitored by a timeout = waits until the robot path movement stops). Deactivates the process after the synchronous stop has been completed. The process can no longer be accessed while the exception is pending. If the timeout (configurable) is triggered, the function transitions to an asynchronous stop.
i_xSyncStopEH	BOOL	Initiate a synchronous stop (monitored by a timeout = waits until the robot path movement stops). Does NOT disable process after completion of the synchronous stop.
i_xStopEndOfCycle	BOOL	Initiate a stop at the end of the cycle. Does NOT deactivate the process.
i_xDiagQuit	BOOL	A rising edge FALSE -> TRUE cancels an active exception of the POU.

Output	Data type	Description
q_xActive	BOOL	TRUE: The POU is active. If the output is TRUE while the i_xEnable is deactivated, the POU must first terminate its ongoing processing before transitioning this output to FALSE. FALSE: The POU is inactive
q_xReady	BOOL	TRUE: The POU is ready to operate and can accept user commands. FALSE: The function block is not ready to accept user commands.
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	RM.ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message that gives more detailed information on the diagnostic state.
q_xException	BOOL	An error was detected and an exception is active.
q_xWarning	BOOL	An advisory is active.
q_etActiveOpMode	RM.ET_OpMode	The active operating mode of the Smart Template robot module.
q_xCmdActive	BOOL	A command is active.
q_etCmdActive	RM.ET_Cmd	The active command of the Smart Template robot module.
q_xCmdDone	BOOL	A command is terminated successfully.
q_xAsyncStop	BOOL	An immediate asynchronous stop is active. The process can no longer be accessed while the exception is pending. No commands can be executed while the reaction is pending. You may still execute certain special operating modes and commands required for exception elimination.
q_xSyncStopEL	BOOL	A synchronous stop (monitored by a timeout = waits until the robot path movement stops) is active. Deactivates the process after the synchronous stop has been completed. The process can no longer be accessed while the exception is pending. If the timeout (configurable) is triggered, the function transitions to an asynchronous stop.
q_xSyncStopEH	BOOL	A synchronous stop (monitored by a timeout = waits until the robot path movement stops) is active. Does NOT disable process after completion of the synchronous stop.
q_xStopEndOfCycle	BOOL	A stop at the end of the cycle is active. Does NOT deactivate the process.
q_ifRobotFeedback	ROB.IF_RobotFeedback	Robot feedback interface (see IF_RobotFeedback).

Input/Output	Data type	Description
iq_etCmd	RM.ET_Cmd	Transfer a module command to the module.

Properties

Name	Data type	Accessing	Description
ifRobotFeedback	ROB.IF_RobotFeedback	Read	Robot feedback interface (see IF_RobotFeedback).

Methods

Name	Description
Calibration	Execute the calibration for a Robot S-Series.
Configuration	Configure additional features (for example tracking).
Logic	Logic for the Robot S-Series (for example motion logic).
RegisterLoggerPoint	Register the Smart Template Robot S-Series Module to the Application Logger.
SetControlLoopParameter	Set parameter to influence the control loop of the Robot S-Series axes.
GetControlLoopParameter	Read the parameter which influences the control loop of the Robot S-Series axes.
SetPositionLimitAxis	Set limits for the valid range of axis positions.
GetPositionLimitAxis	Read limits for the current user range of axis positions.