FB_Robot - General Information

Overview

Type:	Function block
Available as of:	V1.0.0.0
Inherits from:	-
Implements:	IF_Robot IF_DiagManager (no user interface) IF_RobotState (no user interface)
Versions:	Current version

NOTE: License points are required to use the function block FB_Robot.

License points are only required for library versions earlier than V2.6.1.0. For more information on license points, refer to License Model for PacDrive Software Packages.

Number of license points: 30

License string: ROB.Robot

The license points are requested during a successful call of a configuration method of a transformation of IF_RobotConfiguration.

This chapter provides information on:

Task
Description
Methods
Properties
Diagnostic Messages

Task

POU to control robots.

Description

Central POU to control robot kinematics. The configuration and motion programming is performed via the interface IF_RobotConfiguration or IF_RobotMotion. The states of the robot kinematics can be determined via the IF_RobotFeedback interface.

The POU must be implemented in the user program. The POU is controlled via its properties.

NOTE:

For Modicon M262 Motion Controllers: If FB_Robot and/or IF_Robot report a diagnostic message and the axis is in MOIN.ET_AxisState.ErrorStop state, FB_Robot and/or IF_Robot must be disabled and MC_Reset must be executed to reset the axis.

Methods

Name	Description
RegisterLoggerPoint	Register the FB_Robot to the Application Logger.

Properties

Name	Data type	Accessing	Description
etDiag	GD.ET_Diag	Read	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
etDiagExt	ET_DiagExt	Read	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message
ifConfiguration	IF_RobotConfiguration	Read	Interface for the robot configuration.
ifConfigurationReadOnly	IF_RobotConfigurationReadOnly	Read	Interface to read configuration data from the robot via the provided methods and properties.
ifFeedback	IF_RobotFeedback	Read	Interface with return values.
ifJogging	IF_RobotJogging	Read	Interface for manual motion of the robot.
ifMotion	IF_RobotMotion	Read	Interface for motion programming.
ifWarmStart	IF_RobotWarmStart	Read	Interface to access the warm start interface of the robot.
sMsg	STRING[80]	Read	Event-triggered message that gives more detailed information on the diagnostic state.
xActive	BOOL	Read	TRUE: The POU is active and has to be executed further. FALSE: The POU is inactive.
xDiagQuit	BOOL	Read/Write	A rising edge FALSE -> TRUE acknowledges the following diagnostic messages: etDiag = GD.ET_Diag.ConfigurationFailed etDiagExt = ET_DiagExt.ConfigInvalid
xEnable	BOOL	Read/Write	A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU. A deactivated POU does not execute any actions. For further information, refer to Behavior of FB_Robot.xEnable = FALSE / SyncStop. NOTE: For Modicon M262 Motion Controllers with an axis configured as modulo, refer to chapter Compatibility Notes V3.0.3.0.
xReady	BOOL	Read	TRUE: The POU is ready to operate and can accept user commands. FALSE: The function block is not ready to accept user commands.
xStart	BOOL	Read/Write	TRUE: Motion commands issued via the IF_RobotMotion interface are started. FALSE: Active motions are stopped and can be continued by setting xStart: = TRUE again. The robot can be positioned via the IF_RobotJogging interface. For further information, refer to Behavior of FB_Robot.xStart = FALSE.
xWsSelect	BOOL	Read/Write	TRUE: A warm start motion is pre-selected.
xWsStart	BOOL	Read/Write	TRUE: If xWsSelect = TRUE, the robot moves to the last detected path position. To perform a warm start, it is necessary to re-enable the FB_Robot by setting xEnable to FALSE and TRUE again.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	WaitUntilColdStartFinished	2	The robot is performing a cold start.
	Initializing	19	Initializing
	WaitUntilWarmStartFinished	46	The robot is performing a warm start.
	Jogging	47	Jogging
	Disabled	51	Disabled
	WaitForStart	55	The robot is waiting for start.
	WaitForNewCommand	56	The robot is waiting for a new command.
	CommandProcessing	57	The robot is processing a command.
	WarmStartWaitForWsStart	62	The robot will perform a warm start.
	WaitUntilDisabled	122	The robot is going to be disabled.
	WaitForVelOverride	145	The robot is waiting for VelOverride.
ConfigurationFailed	ConfigInvalid	1	The configuration is invalid.
ConfigurationFailed	SchneiderElectricRobotFailed	157	Executing a Schneider Electric robot was not successful.
DiagActive	SchneiderElectricRobotFailed	157	Executing a Schneider Electric robot was not successful.
DriveConditionInvalid	DriveNotReady	85	A drive is not ready.
	DriveInvalid	92	The drive is invalid.
	ModuloAxisNotSupported	244	An axis of type modulo is not supported.
Execution Aborted	PathPositionEndExceeded	29	The end position on the path was exceeded.
	NotOnPath	63	The robot is not on the path.
	DriveNotConfigured	65	The drive is not configured.
	AxisPositionRange	103	Axis position range exceeded.
	OutsideWorkspace	104	Outside of workspace.
	AuxiliaryAxisNotConfigured	127	The auxiliary axis is not configured.
	WarmStartNotPossible	173	A warm start is not possible.
	SetPosDetected	174	A SetPos has been detected.
	ComponentNotConfigured	198	The component is not configured.
	ExternalPositionSourceConfigured	205	The external position source is configured.
	ExternalPositionSourceAccLimitExceeded	224	The acceleration of one of the robot components has exceeded the specified limit value.
	TrackingSourceAccLimitExceeded	250	The acceleration of one of the tracking systems has exceeded the specified limit value.
LimitReached	ExcessiveTrackingDeviationLimitExceeded	121	The tracking deviation limit was exceeded.
LimitReached	WorkEnvelope	159	Diagnostic message concerning the work envelope is active.
UnexpectedProgramBehavior	LicenseCheckFailed	6	The license check was not successful.
	UnexpectedFeedback	13	A feedback value was invalid.
	UnexpectedMovement	82	The movement was invalid.
	RefPositionInvalid	90	The Ref position is invalid.
	UnexpectedValue	111	The value was invalid.

AuxiliaryAxisNotConfigured

Enumeration name:	AuxiliaryAxisNotConfigured
Enumeration value:	127
Description:	The auxiliary axis is not configured.

Issue	Cause	Solution
Using additional transformation axes was not successful.	A position value unequal to zero of an unconfigured auxiliary axis was calculated and transferred to the robot.	Ensure that a position value equal to zero is transferred to the not configured auxiliary axis.
Using TrackingSource was not successful.	A tracking offset unequal to zero for an unconfigured auxiliary axis was transferred to the robot.	Ensure that a tracking offset equal to zero is transmitted for every auxiliary axis that is not configured for the robot.

AxisPositionRange

Enumeration name:	AxisPositionRange
Enumeration value:	103
Description:	Axis position range exceeded.

Issue	Cause	Solution
The robot is not ready for operation.	A movement of the robot leads to one or more axes being outside the operation zone of the robot.	Ensure that the movement of the robot is inside the operation zone of the robot.

CommandProcessing

Enumeration name:	CommandProcessing
Enumeration value:	57
Description:	The robot is processing a command.

The robot is ready for operation.

The robot is processing motion commands that were issued with the IF_RobotMotion interface.

ComponentNotConfigured

Enumeration name:	ComponentNotConfigured
Enumeration value:	198
Description:	The component is not configured.

Issue	Cause	Solution
Using additional transformation TCP was not successful.	A position value unequal to zero of an unconfigured TCP component was calculated and transferred to the robot.	Ensure that a position value equal to zero is transferred to the not configured TCP component.
Using TrackingSource was not successful.	A tracking offset unequal to zero for an unconfigured cartesian component was transferred to the robot.	Ensure that a tracking offset equal to zero is transmitted for every cartesian component that is not configured for the robot.

ConfigInvalid

Enumeration name:	ConfigInvalid
Enumeration value:	1
Description:	The configuration is invalid.

Issue	Cause	Solution
The robot is not ready for operation.	The configuration of the robot has not been completed yet.	A valid transformation, for example IF_RobotConfiguration.Delta3Ax, has to be configured. Valid emergency parameters have to be set by calling the method IF_RobotConfiguration.SetEmergencyParameter. In order to complete the configuration of the robot, the method IF_RobotConfiguration.ConfigDone has to be called. If the configuration was successfully completed, then IF_RobotConfiguration.xConfigDone is set to TRUE.

Issue

Cause

Solution

The robot is not ready for operation.

The configuration of the robot has not been completed yet.

A valid transformation, for example IF_RobotConfiguration.Delta3Ax, has to be configured.

Valid emergency parameters have to be set by calling the method IF_RobotConfiguration.SetEmergencyParameter.

In order to complete the configuration of the robot, the method IF_RobotConfiguration.ConfigDone has to be called.

If the configuration was successfully completed, then IF_RobotConfiguration.xConfigDone is set to TRUE.

Disabled

Enumeration name:	Disabled
Enumeration value:	51
Description:	Disabled

The robot is deactivated, no actions are executed.

FB_Robot.xEnable and FB_Robot.xActive have the value FALSE.

Set FB_Robot.xEnable to TRUE to enable the robot.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	92
Description:	The drive is invalid.

Issue	Cause	Solution
The robot is not ready for operation.	A drive that was transferred at the input i_ifDrive (or i_ifDriveA, i_ifDriveB, ...) is invalid.	Ensure that a valid drive is transferred at the input i_ifDrive.

DriveNotConfigured

Enumeration name:	DriveNotConfigured
Enumeration value:	65
Description:	The drive is not configured.

Issue	Cause	Solution
Usage of additional transformation axes was not successful.	A position value unequal to zero of an unconfigured robot axis was calculated and transferred to the robot.	Ensure that a position value equal to zero is transferred to the not configured robot axes.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	85
Description:	A drive is not ready.

Issue	Cause	Solution
The robot is not ready for operation.	At least one drive of the robot is not ready.	Ensure that the drives are ready before enabling the robot.

ExcessiveTrackingDeviationLimitExceeded

Enumeration name:	ExcessiveTrackingDeviationLimitExceeded
Enumeration value:	121
Description:	The tracking deviation limit was exceeded.

Issue	Cause	Solution
The robot is not ready for operation.	The tracking deviation of a robot component is greater than the value tracking deviation limit multiplied by the tracking deviation factor set by IF_RobotConfigurationAdvanced.SetTrackingDeviationLimit.	Verify the maximum velocity and/or acceleration of the robot movement in connection with the product that is moved.

ExternalPositionSourceConfigured

Enumeration name:	ExternalPositionSourceConfigured
Enumeration value:	205
Description:	The external position source is configured.

Issue	Cause	Solution
The motion job was aborted.	An external position source for the robot components cartesian, orientation and auxiliary axes is configured.	Do not set the motion parameter for the component VelOverride. Setting the VelOverride is not possible when an external position source for the robot components is configured.

ExternalPositionSourceAccLimitExceeded

Enumeration name:	ExternalPositionSourceAccLimitExceeded
Enumeration value:	225
Description:	The acceleration of one of the robot components has exceeded the specified limit value.

Issue	Cause	Solution
The robot is not ready for operation.	The delta of two subsequent positions forwarded to the robot via the method IF_ExternalPositionSource.WriteRefValues is too large, so the acceleration calculated from these positions is greater than the given limit.	Ensure that the movement of the external position source does not exceed the given limit. Adjust the limit if necessary.
One or more tasks are exceeding the configured cycle time.	Verify the behavior of the active tasks in terms of cycle time.

Issue

Cause

Solution

The robot is not ready for operation.

The delta of two subsequent positions forwarded to the robot via the method IF_ExternalPositionSource.WriteRefValues is too large, so the acceleration calculated from these positions is greater than the given limit.

Ensure that the movement of the external position source does not exceed the given limit.

Adjust the limit if necessary.

One or more tasks are exceeding the configured cycle time.

Verify the behavior of the active tasks in terms of cycle time.

Initializing

Enumeration name:	Initializing
Enumeration value:	19
Description:	Initializing

The robot is being initialized.

FB_Robot.xEnable was set to TRUE.

The value of FB_Robot.xActive is TRUE.

The robot is being initialized. Wait until FB_Robot.xReady is also set to TRUE.

Jogging

Enumeration name:	Jogging
Enumeration value:	47
Description:	Jogging

Jogging is active.

The robot is manually moved with the IF_RobotJogging interface.

LicenseCheckFailed

Enumeration name:	LicenseCheckFailed
Enumeration value:	6
Description:	The license check was not successful.

The robot is not ready for operation.

ModuloAxisNotSupported

Enumeration name:	ModuloAxisNotSupported
Enumeration value:	244
Description:	An axis of type modulo is not supported.

Issue	Cause	Solution
The robot is not ready for operation.	A configured robot axis on the M262 controller is of type modulo.	Ensure that configured robot axes on the M262 controller are of type linear.

NotOnPath

Enumeration name:	NotOnPath
Enumeration value:	63
Description:	The robot is not on the path.

Issue	Cause	Solution
The robot is not ready for operation.	IF_RobotJogging.Start with ET_RobotComponent.Path selected while robot is not on the path.	Perform a warm start to get back on the path before executing IF_RobotJogging.Start with ET_RobotComponent.Path.
The robot is not ready for operation.	FB_Robot.xStart is set to TRUE while robot is not on the path.	Perform a warm start to get back on the path before setting FB_Robot.xStart to TRUE.

OutsideWorkspace

Enumeration name:	OutsideWorkspace
Enumeration value:	104
Description:	Outside of workspace.

Issue	Cause	Solution
The robot is not ready for operation.	A movement of the robot leads to a cartesian coordinate being outside the operation zone of the robot.	Ensure that the movement of the robot is inside the cartesian operation zone of the robot.

PathPositionEndExceeded

Enumeration name:	PathPositionEndExceeded
Enumeration value:	29
Description:	The end position on the path was exceeded.

The robot is not ready for operation.

RefPositionInvalid

Enumeration name:	RefPositionInvalid
Enumeration value:	90
Description:	The Ref position is invalid.

The robot is not ready for operation.

SchneiderElectricRobotFailed

Enumeration name:	SchneiderElectricRobotFailed
Enumeration value:	157
Description:	Executing a Schneider Electric robot was not successful.

Issue	Cause	Solution
The robot is not ready for operation.	The configuration method IF_RobotConfiguration.SchneiderElectricRobot has been called not successfully.	The configuration method IF_RobotConfiguration.SchneiderElectricRobot has to be called successfully in case of a Schneider Electric robot.

SetPosDetected

Enumeration name:	SetPosDetected
Enumeration value:	174
Description:	A SetPos has been detected.

Issue	Cause	Solution
The robot is not ready for operation.	A SetPos was detected on a logical encoder of a configured linear tracking system.	Do not perform a SetPos on any logical encoder of a configured linear tracking system.
	One or more tasks are exceeding the configured cycle time.	Verify the behavior of the active tasks in terms of cycle time.
	Fast variations on the velocity source configured for the tracking system, for example, an electrically noisy signal.	Verify the behavior of the configured velocity source.

TrackingSourceAccLimitExceeded

Enumeration name:	TrackingSourceAccLimitExceeded
Enumeration value:	250
Description:	The acceleration of one of the tracking systems has exceeded the specified limit value.

Issue	Cause	Solution
The robot is not ready for operation.	The acceleration of one of the tracking systems has exceeded the specified limit value.	Ensure that the movement of the tracking source does not exceed the given limit. You must adjust the limit, if necessary.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	13
Description:	A feedback value was invalid.

The robot is not ready for operation.

UnexpectedMovement

Enumeration name:	UnexpectedMovement
Enumeration value:	82
Description:	The movement was invalid.

The robot is not ready for operation.

UnexpectedValue

Enumeration name:	UnexpectedValue
Enumeration value:	111
Description:	The value was invalid.

The robot is not ready for operation.

WaitForNewCommand

Enumeration name:	WaitForNewCommand
Enumeration value:	56
Description:	The robot is waiting for a new command.

The robot is ready for operation.

The robot is waiting for commands that can be issued with the IF_RobotMotion interface.

WaitForStart

Enumeration name:	WaitForStart
Enumeration value:	55
Description:	The robot is waiting for start.

The robot is ready for operation.

FB_Robot.xReady has the value TRUE.

The system is waiting for FB_Robot.xStart to be set to the value TRUE.

WaitForVelOverride

Enumeration name:	WaitForVelOverride
Enumeration value:	145
Description:	The robot is waiting for VelOverride.

The robot is ready for operation.

The value IF_RobotMotion.lrVelOverride is set to 0.

Set the value of IF_RobotMotion.lrVelOverride greater than 0.

WaitUntilColdStartFinished

Enumeration name:	WaitUntilColdStartFinished
Enumeration value:	2
Description:	The robot is performing a cold start.

The robot is ready for operation.

The robot is performing a cold start. FB_Robot.xReady is FALSE until the cold start is finished.

WaitUntilDisabled

Enumeration name:	WaitUntilDisabled
Enumeration value:	122
Description:	The robot is going to be disabled.

The robot is not ready for operation.

FB_Robot.xEnable was set to FALSE. The robot is going to be disabled.

WaitUntilWarmStartFinished

Enumeration name:	WaitUntilWarmStartFinished
Enumeration value:	46
Description:	The robot is performing a warm start.

The robot is ready for operation.

FB_Robot.xWsSelect and FB_Robot.xWsStart were set to the value TRUE. The robot is executing a warm start.

WarmStartNotPossible

Enumeration name:	WarmStartNotPossible
Enumeration value:	173
Description:	A warm start is not possible.

Issue	Cause	Solution
The robot is not ready for operation.	A warm start of the robot is not possible. Request to change the coordinate system are sent.	Perform a cold start of the robot.
The robot is not ready for operation.	A warm start of the robot is not possible. The robot was in tracking before disable.	Perform a cold start of the robot.

WarmStartWaitForWsStart

Enumeration name:	WarmStartWaitForWsStart
Enumeration value:	62
Description:	The robot will perform a warm start.

The robot is ready for operation.

When activating the robot (FB_Robot.xEnable FALSE -> TRUE), FB_Robot.xWsSelect was set to the value TRUE.

The system waits for FB_Robot.xWsStart to be set to the value TRUE to perform a warm start.

WorkEnvelope

Enumeration name:	WorkEnvelope
Enumeration value:	159
Description:	Diagnostic message concerning the work envelope is active.

Issue	Cause	Solution
The robot is not ready for operation.	The robot detected a disturbance of the valid work envelope and stopped in front of it.	Ensure that the robot movement is always inside the valid work envelope of the robot.