IF_Robot - General Information

Overview

Type:	Interface
Available as of:	V1.0.0.0
Inherits from:	-

This chapter provides information on:

Task
Description
Properties

Task

Interface for controlling the FB_Robot.

Description

This interface is implemented by the function block FB_Robot.

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.

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.
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.
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.
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.