Using the Library with the PacDrive 3 System

Insert a new robot node module SR_<NewRobot>Module

• Open the devices tree of the RoboticModuleExample project template.

• Go to the folder LMC_PacDrive -> PLC Logic -> Application -> RoboticModuleExample -> EquipmentModules.

  Copy the existing robot node module SR_RobotModule.

  Change the name of the new robot node module to SR_<NewRobot>Module.

Insert axes for the added robot module

• Go to the node SERCOSIII of your project.

• Depending on the type of the robot, insert all necessary axes.

  Give the axes the robot specific name. For example DRV_<NewRobot>A, DRV_<NewRobot>B, DRV_<NewRobot>C, ...

Parameterization of the added robot module

• Open Init_Robot of the added robot node module SR_<NewRobot>Module.

  Change the name of the added robot node module to <NewRobot>.

  astSubModuleInterface[c_udiRobot].i_sModuleName := CONCAT(STR1:=iq_stStandardModuleItf.i_sModuleName, STR2:=': <NewRobot>'');

• Configure the correct transformation, depending on the robot kinematic. Use _CopyMaster as code snippets.

  Add the drives you inserted in step 2 (DRV_<NewRobot>A, DRV_<NewRobot>B, DRV_<NewRobot>C, ... ) to the transformation.

• If the robot type requires only two axes (for example axis A and B) or no auxiliary axis is needed, then delete the corresponding actions (for example Init_C and/or Init_AuxAx1) and the call of these actions in Init_Robot.

• Verify the other possibilities of configurations in Init_Robot.

  For example, SetEmergencyParameter, ModifyCoordinateSystem or AddAuxAx.

• Verify/Modify the configuration of the used homing modes of each axis.

  Therefore, you must verify the actions Init_A, Init_B, ..., Init_AuxAx1.

  Use the _CopyMaster as code snippets.

• Verify/Modify the configuration of the manual parameters of the robot.

  Therefore, you must verify the action Init_ManualMode.

Register the added robot node module SR_<NewRobot>Module in the main program SR_MainMachine

• Open the devices tree of the RoboticModuleExample project template.

• Go to the folder LMC_PacDrive -> PLC Logic -> Application -> RoboticModuleExample -> TaskCalls.

• Open the main program SR_MainMachine.

  Increase the value of the constant variable c_udiNumberOfSubModules by 1.

  Add a constant variable c_udi<NewRobot>. Set the value of the variable to a increased value by 1.

  Increase the value of the constant variable c_udiNumberOfGroupMembers by 1.

• Copy the action Init_RobotNode.

  Change the name of the added action to initialize the robot node module to Init_<NewRobot>Node.

• Open Init_<NewRobot>Node and set the module name.

  astSubModuleInterface[c_udi<NewRobot>].i_sModuleName := STANDARD.CONCAT(STR1 := stMachineInterface.i_sModuleName, STR2 := ': <NewRobot>Node');

• Open Init_Module_Action and call Init_<NewRobot>Node();

• Open SubModules_Action of the main program SR_MainMachine.

  Copy the network containing the SR_RobotModule.

  Change the name of the called POU to SR_<NewRobot>Module.

  Change the constant variable in astSubModuleInterface[c_udiRobot] to astSubModuleInterface[c_udi<NewRobot>].

• Open Init_CmdTables and search for c_udiRobot in all command tables.

  Copy the command table section and insert it underneath the found section.

  Change the constant variable from c_udiRobot to c_udi<NewRobot>.

• Open UpdateStructs and copy the section "Update AddInterface - Robot".

  Use the constant variable c_udi<NewRobot> instead of c_udiRobot.

• Open Init_SubModules and add the new robot module to a defined module group, if necessary.

  For example, aaudiSubModuleGroups[c_udiRobotGroup-TPL.Gc_udiGroupOffset,TPL.ET_Group.Member2] := c_udi<NewRobot>;