FB_Calibration T-Series – General Information

Overview

Type:

Function block

Available as of:

V2.11.0.0

Inherits from:

–

This chapter provides information on:

Task

The function block performs a calibration of a T-Series robot.

Description

The function block allows you an efficient means to perform a calibration of a T-Series robot. Instead of calling every method for the calibration, you can perform a calibration by selecting the desired mode with the inputs and start the calibration.

Interface

Input

Data type

Description

i_xEnable

BOOL

TRUE: Enable the function block.

i_xExecute

BOOL

TRUE: Start the calibration, selected with the input i_etMode.

This input must be set until calibration is done (q_xDone).

i_ifCalibration

SER.IF_RobotTSeriesCalibration

Interface for the calibration.

i_etMode

ET_CalibrationMode

Selects the calibration mode.

i_etAxis

SER.ET_RobotTSeriesComponent

Selects the axis for the calibration.

i_xDiagQuit

BOOL

A rising edge FALSE -> TRUE cancels an active exception of the FB.

Output

Data type

Description

q_xRequest

BOOL

TRUE: The function block needs the calibration-interface at the input to work.

FALSE: The function block doesn’t need the calibration-interface anymore.

q_xActive

BOOL

TRUE: The function block is active.

FALSE: The function block is not active, inputs are ignored.

q_xReady

BOOL

TRUE: The function block is ready to execute calibration.

FALSE: The function block is not ready for calibration, waiting for calibration-interface.

q_xBusy

BOOL

TRUE: The function block is busy, a calibration is active.

q_xDone

BOOL

TRUE: The selected calibration is done.

q_xException

BOOL

TRUE: There was/is an exception. Send a Diag-Quit to get exception-free.

q_etDiag

GD.ET_Diag

General, library-independent statement on the diagnostic.

A value unequal to ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output for the diagnostic.

q_etDiag = ET_Diag.Ok -> Status message

q_etDiag <> ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

Event-triggered message that gives additional information on the diagnostic state.

Diagnostic Messages

q_etDiag

q_etDiagExt

Enumeration value

Description

OK

Ok

0

Successful

OK

Initializing

7

Initializing.

OK

WaitUntilDisabled

8

Wait Until Disabled.

OK

CalibrationWaitForResetStartStop

107

Calibration waits for a reset.

OK

Disabled

6

Disabled.

ExecutionAborted

CalibrationAborted

106

Calibration has been aborted.

InputParameterInvalid

UnexpectedFeedback

9

The Feedback is incorrect.

InputParameterInvalid

CalibrationModeInvalid

105

The CalibrationMode is invalid.

DriveConditionInvalid

RobotIsActive

12

The robot is active.

Additionally to the diagnostic messages above, the diagnostic messages described for IF_RobotTSeriesCalibration may occur as the methods are called within the function block. Refer to Diagnostic Messages.

Ok

Enumeration name:

Ok

Enumeration value:

0

Description:

Successful

Function block is running.

Initializing

Enumeration name:

Initializing

Enumeration value:

7

Description:

Initializing.

Function block is initializing.

WaitUntilDisabled

Enumeration name:

WaitUntilDisabled

Enumeration value:

8

Description:

Wait Until Disabled.

The function block is disabled. All internal states are reset and connected resources (for example. axes) are transferred to a defined safe state.

CalibrationWaitForResetStartStop

Enumeration name:

CalibrationWaitForResetStartStop

Enumeration value:

107

Description:

Calibration waits for a reset.

Issue

Cause

Solution

Calibration waits for a reset.

At least one of the inputs i_xStartCalibration and i_xStopCalibration is set to TRUE.

Set the i_xStartCalibration and i_xStopCalibration to FALSE.

Disabled

Enumeration name:

Disabled

Enumeration value:

6

Description:

Disabled.

The function block is disabled.

CalibrationAborted

Enumeration name:

CalibrationAborted

Enumeration value:

106

Description:

Calibration has been aborted.

The calibration was stopped and the function block is disabled.

UnexpectedFeedback

Enumeration name:

UnexpectedFeedback

Enumeration value:

9

Description:

The Feedback is incorrect.

Issue

Cause

Solution

No Interface is attached to the input i_ifCalibration.

i_ifCalibration contains no valid interface.

Ensure that i_ifCalibration contains a valid interface.

CalibrationModeInvalid

Enumeration name:

CalibrationModeInvalid

Enumeration value:

105

Description:

The CalibrationMode is invalid.

Issue

Cause

Solution

No CalibrationMode is selected.

i_etSelectCalibrationMode contains no CalibrationMode.

Ensure sure that i_etSelectCalibrationMode contains a valid CalibrationMode.

RobotIsActive

Enumeration name:

RobotIsActive

Enumeration value:

12

Description:

The robot is active.

Issue

Cause

Solution

Robot is enabled

The robot is still enabled.

Make sure that the robot is disabled.