FB_RoboticsAutoTunePSeries - General Information

Overview

Type:	Function block
Available as of:	V2.0.0.0
Inherits from:	-
Implements:	IF_RoboticsAutoTuneMotion IF_RoboticsAutoTuneFileHandling IF_RoboticsAutoTuneConfiguration IF_RoboticsAutoTuneFeedback CmpEventMgr.ICmpEventCallback
Revision:	0

This chapter provides information on:

oTask

oDescription

oMethods

oProperties

Task

POU to tune the movement of a P-Series robot, store, and load parameters and provide statistics to evaluate the performance.

Description

The configuration and tuning are performed via the methods and properties provided by the POU.

To configure an instance of the POU, the method Configuration(…) must be called.

A successful configuration is indicated by the property xConfigDone = TRUE.

For tuning and during production, the method SetMotionParameter(…) must be used, which sets the acceleration and deceleration for the respective movement.

The state and status of RoboticsAutoTune can be saved and loaded with the file handling methods WriteFile(…) and ReadFile(…).

Methods

Name	Description
Configuration	Configure the FB_RoboticsAutoTunePSeries.
DeleteFile	Delete a file from the controller.
GetMotionParameter	Read the acceleration, deceleration, status, and additional data for a specific movement.
GetMotionParameterByIndex	Read the acceleration, deceleration, status, and additional data for a specific movement by index.
GetReductionParameter	Read the values set by ReduceMotionParameter to reduce the acceleration and deceleration of the movement.
ReadFile	Read a file from the controller.
ReduceMotionParameter	Reduce the acceleration and deceleration for each movement which is tuned completely.
RegisterLoggerPoint	Register the logger point of RoboticsAutoTune.
ResetStatistics	Reset the statistics.
RestartTuning	Restart the tuning with new acceleration values.
SetMotionParameter	Set the motion parameter for a specific target.
WriteFile	Write a file to the controller.

Properties

Name	Data type	Accessing	Description
lrFinetuningLevel	LREAL	Read	Percentage value of movements, which are fine-tuned completely (udiNumberOfMovementsFinetuned / udiNumberOfMovements). The value may not reach 100 %. If a movement is executed only once or for an insufficient number of cycles, the fine-tuning of this specific movement is not completed. A lrFinetuningLevel which is less than lrTuningLevel is acceptable. The tuning process is done in two stages: First, the rather quick tuning, followed by the fine-tuning.
lrTuningLevel	LREAL	Read	Percentage value of movements, which are tuned completely (udiNumberOfMovementsTuned / udiNumberOfMovements). The value may not reach 100 %. If a movement is executed only once or for an insufficient number of cycles, the tuning of this specific movement is not completed.
rastStatisticsCycleTimeMoveId	REFERENCE TO ARRAY[1..Gc_udiNumberOfMoveIds] OF ST_Statistics	Read	Statistic over cycle time separated by MoveId in ms. The cycle time is measured from the start of the movement until the robot reaches its target. Only movements which are fine-tuned completely are used for the statistic.
rastStatusLastMovement	REFERENCE TO ARRAY[1..Gc_udiNumberOfMoveIds] OF ST_Status	Read	Status of the latest movement for each MoveId.
rstStatisticsCycleTime	REFERENCE TO ST_Statistics	Read	Overall cycle time in ms. The cycle time is measured from the start of the movement until the robot reaches its target. Only movements which are fine-tuned completely are used for the statistic.
udiNumberOfMovements	UDINT	Read	Number of movements executed.
udiNumberOfMovementsFinetuned	UDINT	Read	Number of movements fine-tuned completely.
udiNumberOfMovementsTuned	UDINT	Read	Number of movements tuned completely.
xConfigDone	BOOL	Read	Method Configuration(…) was called successfully.
xEnableAdditionalData	BOOL	Read/write	Additional data on the movements is stored and can be saved to a file. The additional data is for debugging and in-depth analysis only and may result in an excessive use of system resources. The data is not necessary for a regular tuning process, so it is not a good practice to enable this feature without a compelling reason.
xReadOnly	BOOL	Read/write	Tuning the movements is stopped. The latest values for acceleration and deceleration are used and a reduction set by the method ReduceMotionParameter is applied, even if the movement is not tuned completely. There is no adaptation in case the tracking deviation limits of auto tuning are exceeded.
xReductionActive	BOOL	Read	Motion is running with reduced acceleration and/or reduced deceleration set by the method ReduceMotionParameter.