SR_<RobotCell> - General Information

Overview

Type:	Program
Available as of:	V1.0.0.0
Inherits from:	-
Implements:	-

This chapter provides information on:

Functional Description
Interface
Diagnostic Messages
Methods
Properties

Functional Description

SR_<RobotCell> is used to configure a robot cell.

Interface

Input	Data type	Description
i_xDoNotUseDefaultCmdTables	BOOL	FALSE: The default command table is used. TRUE: You must write your own command table. For more information, refer to Using i_xDoNotUseDefaultCmdTables.

Input

Data type

Description

i_xDoNotUseDefaultCmdTables

BOOL

FALSE: The default command table is used.

TRUE: You must write your own command table.

For more information, refer to Using i_xDoNotUseDefaultCmdTables.

Input/Output	Data type	Description
iq_stStandardModuleItf	TPL.ST_StandardModuleInterface (refer to EcoStruxure Machine Expert, PD_Template, Library Guide)	Standard module interface
iq_stExceptionList	TPL.ST_ExceptionList (refer to EcoStruxure Machine Expert, PD_Template, Library Guide)	Exception list
iq_stLogDataList	TPL.ST_LogDataList (refer to EcoStruxure Machine Expert, PD_Template, Library Guide)	Log data list

Output	Data type	Description
q_aifTargetsHandler	ARRAY [ROB.ET_CoordinateSystem.Tracking1 ...ROB.ET_CoordinateSystem.Tracking30] OF SERT.IF_TargetsHandler	Read the interface for an array of a TargetsHandler. For every target handler that is added to the robot cell in the Targets Handler tab, the interface to this targets handler is set and can be used, for example, to read and set the data.
q_ifEntitiesHandler	SERT.IF_EntitiesHandler	Read the interface of the entities handler. The data like Cartesian position of the robots, conveyors, target generators and linear tracking systems are stored in the entities handler. The interface of the entities handler can be used to read this data and do, for example, some calculations based on this data.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Plain text
Ok	Ok	0	Ok.
	Disabled	1	Disabled.
	Initializing	2	Initializing
	DeactivatingSubModules	3	DeactivatingSubModules
	ExecuteStep	4	ExecuteStep
	WaitAtNegativeStep	5	WaitAtNegativeStep
	WaitCmdsDone	6	WaitCmdsDone
	WaitForCmd	7	WaitForCmd
	SubModuleInException	8	SubModuleInException
DiagActive	ModuleControllerException	9	ModuleControllerException
UnexpectedProgramBehavior	UnknownStateModuleController	10	UnknownStateModuleController
	UpdateStructsException	11	UpdateStructsException
	InitReactionsException	12	InitReactionsException
	InitSubModulesException	13	InitSubModulesException
	UnknownDiagExtRobotCell	14	UnknownDiagExtRobotCell

DeactivatingSubModules

Enumeration name:	DeactivatingSubModules
Enumeration value:	3
Description:	DeactivatingSubModules

Status message: The robot cell is deactivating the submodules, but this has not yet been successfully completed.

Disabled

Enumeration name:	Disabled
Enumeration value:	1
Description:	Disabled

Status message: Disabling the SR_<RobotCell> is successful.

ExecuteStep

Enumeration name:	ExecuteStep
Enumeration value:	4
Description:	ExecuteStep

Status message: Executing the step is successful.

Initializing

Enumeration name:	Initializing
Enumeration value:	2
Description:	Initializing

Status message: Initializing the SR_<RobotCell> is successful.

InitReactionsException

Enumeration name:	InitReactionsException
Enumeration value:	12
Description:	InitReactionsException

Issue	Cause	Solution
Initialization of reactions is unsuccessful.	—	For more details, refer to the exception list.

InitSubModulesException

Enumeration name:	InitSubModulesException
Enumeration value:	13
Description:	InitSubModulesException

Issue	Cause	Solution
Initialization of submodules is unsuccessful.	—	For more details, refer to the exception list.

ModuleControllerException

Enumeration name:	ModuleControllerException
Enumeration value:	9
Description:	ModuleControllerException

Issue	Cause	Solution
The FB_ModuleController reports an exception.	—	For more details, refer to iq_stStandardModuleItf.q_sMsg. (Refer to the FB_ModuleController in the EcoStruxure Machine Expert, PD_Template, Library Guide).

Issue

Cause

Solution

The FB_ModuleController reports an exception.

—

For more details, refer to iq_stStandardModuleItf.q_sMsg.

(Refer to the FB_ModuleController in the EcoStruxure Machine Expert, PD_Template, Library Guide).

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

Status message: Configuration is successful.

SubModuleInException

Enumeration name:	SubModuleInException
Enumeration value:	8
Description:	SubModuleInException

Status message: A submodule reported an exception.

UnknownDiagExtRobotCell

Enumeration name:	UnknownDiagExtRobotCell
Enumeration value:	14
Description:	An unexpected error was detected during the execution.

Status message: The DiagExt is indeterminable.

Issue	Cause	Solution
The DiagExt is indeterminable.	An internal execution error has been detected.	Contact your Schneider Electric service representative about this detected error.

UnknownStateModuleController

Enumeration name:	UnknownStateModuleController
Enumeration value:	10
Description:	UnknownStateModuleController

Issue	Cause	Solution
Calling the module controller is unsuccessful.	The module controller has an indeterminable state.	Contact your Schneider Electric service representative about this indeterminable state.

UpdateStructsException

Enumeration name:	UpdateStructsException
Enumeration value:	11
Description:	UpdateStructsException

Issue	Cause	Solution
Updating the command table structures is unsuccessful.	For more details, refer to the exception list.	In case of i_xDoNotUseDefaultCmdTables := TRUE , verify your command table structures of type TPL.ST_Cmd.

WaitAtNegativeStep

Enumeration name:	WaitAtNegativeStep
Enumeration value:	5
Description:	WaitAtNegativeStep

Status message: The program is waiting at a negative step.

WaitCmdsDone

Enumeration name:	WaitCmdsDone
Enumeration value:	6
Description:	WaitCmdsDone

Status message: Waiting until the commands are processed.

WaitForCmd

Enumeration name:	WaitForCmd
Enumeration value:	7
Description:	WaitForCmd

Status message: The program is waiting for commands.

Methods

Name	Description
Configuration	Configuration for the robot cell.
Logic	Logic for the robot cell.
RegisterLoggerPoint	Register the Smart Template Robot Cell Module to the Application Logger.

Properties

Name	Data type	Accessing	Description
stStandardMotionInterface	TPL.ST_StandardMotionInterface	Read/Write	The stStandardMotionInterface can be set and will then also forwarded to Modules that support this (for example Conveyor module). After setting this property the feature SetAsJogTarget can be used to jog the selected module forward/backward.