FB_RobotPSeries - General Information

Overview

Type:	Function block
Available as of:	V1.0.0.0
Inherits from:	SERP.FB_RobotPSeriesParameters

This chapter provides information on:

Task
Description
Diagnostic Messages
Methods
Properties

Task

FB to control a Lexium P Robot.

Description

Function block to control a Lexium P Robot.

The initialization is performed via the inherited methods SERP.InitializeRobot, SERP.InitializeRotationalAxis, SERP.OptionalEquipment and SetKinematicParameter.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	DriveSuccessfulPrepared	13	The drive is successfully prepared.
OK	VirtualDrives	11	The drives are virtual.
ConfigurationFailed	DriveNotPrepared	14	The drive is not prepared.
ExecutionAborted	BrakeCouplingTimeInvalid	80	The BrakeCouplingTime is invalid.
ExecutionAborted	BrakeDisconnectionTimeInvalid	79	The BrakeDisconnectionTime is invalid.
ExecutionAborted	BrakeIntegratedInvalid	67	BrakeIntegrated is invalid.
ExecutionAborted	ControllerStopDecInvalid	78	ControllerStopDec is invalid.
ExecutionAborted	ControllerStopJerkInvalid	77	ControllerStopJerk is invalid.
ExecutionAborted	ControlModeInvalid	72	The ControlMode is invalid.
ExecutionAborted	DirectionInvalid	64	The Direction is invalid.
ExecutionAborted	DriveInvalid	5	The Drive is invalid.
ExecutionAborted	DriveStopCurrentLimitInvalid	92	DriveStopCurrentLimit is invalid.
ExecutionAborted	EncoderDirectionInvalid	75	The EncoderDirection is invalid.
ExecutionAborted	EncoderGearInInvalid	73	The EncoderGearIn is invalid.
ExecutionAborted	EncoderGearOutInvalid	74	The EncoderGearOut is invalid.
ExecutionAborted	EncoderRangeInvalid	68	The EncoderRange is invalid.
ExecutionAborted	FeedConstantInvalid	65	The FeedConstant is invalid.
ExecutionAborted	GearInInvalid	62	The GearIn is invalid.
ExecutionAborted	GearOutInvalid	63	The GearOut is invalid.
ExecutionAborted	InterfaceInvalid	3	The Interface is invalid.
ExecutionAborted	MissingProgramCall	32	The program call is unavailable.
ExecutionAborted	MotorIdentification	76	The MotorIdentification is invalid.
ExecutionAborted	MotorTypeInvalid	66	The MotorType is invalid.
ExecutionAborted	StaticFrictionInvalid	81	StaticFriction is invalid.
ExecutionAborted	TaskIntervalInvalid	31	The interval of the task is invalid.
ExecutionAborted	UserDefinedStopModeInvalid	93	UserDefinedStopMode is invalid.
ExecutionAborted	UserDrivePeakCurrentInvalid	71	The UserDrivePeakCurrent is invalid.
ExecutionAborted	ViscousFrictionInvalid	82	ViscousFriction is invalid.
ExecutionAborted	WorkingStateInvalid	70	The WorkingState is invalid.
ExecutionAborted	YOffsetEnableInvalid	83	YOffsetEnable is invalid.

BrakeCouplingTimeInvalid

Enumeration name:	BrakeCouplingTimeInvalid
Enumeration value:	80
Description:	The BrakeCouplingTime is invalid.

Issue	Cause	Solution
The parameter BrakeCouplingTime of the drive is invalid.	The parameter BrakeCouplingTime has been adapted.	See property sMsg for expected value.

BrakeDisconnectionTimeInvalid

Enumeration name:	BrakeDisconnectionTimeInvalid
Enumeration value:	79
Description:	The BrakeDisconnectionTime is invalid.

Issue	Cause	Solution
The parameter BrakeDisconnectionTime of the drive is invalid.	The parameter BrakeDisconnectionTime has been adapted.	See property sMsg for expected value.

BrakeIntegratedInvalid

Enumeration name:	BrakeIntegratedInvalid
Enumeration value:	67
Description:	BrakeIntegrated is invalid.

Issue	Cause	Solution
The parameter BrakeIntegrated of the drive is invalid.	The parameter BrakeIntegrated has been adapted.	See property sMsg for expected value.

ControllerStopDecInvalid

Enumeration name:	ControllerStopDecInvalid
Enumeration value:	78
Description:	ControllerStopDec is invalid.

Issue	Cause	Solution
The parameter ControllerStopDec of the drive is invalid	The parameter ControllerStopDec has been adapted.	See property sMsg for expected value.

ControllerStopJerkInvalid

Enumeration name:	ControllerStopJerkInvalid
Enumeration value:	77
Description:	ControllerStopJerk is invalid.

Issue	Cause	Solution
The parameter ControllerStopJerk of the drive is invalid	The parameter ControllerStopJerk has been adapted.	See property sMsg for expected value.

ControlModeInvalid

Enumeration name:	ControlModeInvalid
Enumeration value:	72
Description:	The ControlMode is invalid.

Issue	Cause	Solution
The parameter ControlMode of the drive is invalid	The parameter ControlMode of the drive has been adapted.	See property sMsg for expected value.

DirectionInvalid

Enumeration name:	DirectionInvalid
Enumeration value:	64
Description:	The Direction is invalid.

Issue	Cause	Solution
The parameter Direction of the drive is invalid	The parameter Direction of the drive has been adapted.	See property sMsg for expected value.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	5
Description:	The Drive is invalid.

An invalid drive has been configured.

DriveNotPrepared

Enumeration name:	DriveNotPrepared
Enumeration value:	14
Description:	The drive is not prepared.

Issue	Cause	Solution
Drive is not prepared for execution.	'P-0-1069.0.0' is unavailable in parameter AdditionalIDNListMDT of the drive.	Write 'P-0-1069.0.0' to parameter AdditionalIDNListMDT of the drive.

DriveStopCurrentLimitInvalid

Enumeration name:	DriveStopCurrentLimitInvalid
Enumeration value:	92
Description:	DriveStopCurrentLimit is invalid.

Issue	Cause	Solution
The parameter DriveStopCurrentLimitInvalid of the drive is invalid.	The parameter DriveStopCurrentLimitInvalid of the drive has been adapted.	See property sMsg for expected value.

DriveSuccessfulPrepared

Enumeration name:	DriveSuccessfulPrepared
Enumeration value:	13
Description:	The drive is successfully prepared.

The drive is successfully prepared for execution.

EncoderDirectionInvalid

Enumeration name:	EncoderDirectionInvalid
Enumeration value:	75
Description:	The EncoderDirection is invalid.

Issue	Cause	Solution
The parameter EncoderDirection of the drive is invalid	The parameter EncoderDirection of the drive has been adapted.	See property sMsg for expected value.

EncoderGearInInvalid

Enumeration name:	EncoderGearInInvalid
Enumeration value:	73
Description:	The EncoderGearIn is invalid.

Issue	Cause	Solution
The parameter EncoderGearIn of the drive is invalid	The parameter EncoderGearIn of the drive has been adapted.	See property sMsg for expected value.

EncoderGearOutInvalid

Enumeration name:	EncoderGearOutInvalid
Enumeration value:	74
Description:	The EncoderGearOut is invalid.

Issue	Cause	Solution
The parameter EncoderGearOut of the drive is invalid	The parameter EncoderGearOut of the drive has been adapted.	See property sMsg for expected value.

EncoderRangeInvalid

Enumeration name:	EncoderRangeInvalid
Enumeration value:	68
Description:	The EncoderRange is invalid.

Issue	Cause	Solution
The parameter EncoderRange of the drive is invalid	The parameter EncoderRange of the drive has been adapted.	See property sMsg for expected value.

FeedConstantInvalid

Enumeration name:	FeedConstantInvalid
Enumeration value:	65
Description:	The FeedConstant is invalid.

Issue	Cause	Solution
The parameter FeedConstant of the drive is invalid	The parameter FeedConstant of the drive has been adapted.	See property sMsg for expected value.

GearInInvalid

Enumeration name:	GearInInvalid
Enumeration value:	62
Description:	The GearIn is invalid.

Issue	Cause	Solution
The parameter GearIn of the drive is invalid	The parameter GearIn of the drive has been adapted.	See property sMsg for expected value.

GearOutInvalid

Enumeration name:	GearOutInvalid
Enumeration value:	63
Description:	The GearOut is invalid.

Issue	Cause	Solution
The parameter GearOut of the drive is invalid	The parameter GearOut of the drive has been adapted.	See property sMsg for expected value.

InterfaceInvalid

Enumeration name:	InterfaceInvalid
Enumeration value:	3
Description:	The Interface is invalid.

An incorrect program behavior occurred. An interface is invalid.

MissingProgramCall

Enumeration name:	MissingProgramCall
Enumeration value:	32
Description:	The program call is unavailable.

Issue	Cause	Solution
The program call is unavailable.	The program SR_SlowCyclicExecution is not called in a cyclic task.	Ensure that the program SR_SlowCyclicExecution is called in a cyclic task.

MotorIdentification

Enumeration name:	MotorIdentification
Enumeration value:	76
Description:	The MotorIdentification is invalid.

Issue	Cause	Solution
The parameter MotorIdentification of a drive is invalid.	The parameter MotorIdentification of a drive is different to the MotorIdentification of the other drives of the robot.	Ensure that all drives used for one robot have the same value for the parameter MotorIdentification.

MotorTypeInvalid

Enumeration name:	MotorTypeInvalid
Enumeration value:	66
Description:	The MotorType is invalid.

Issue	Cause	Solution
The parameter MotorType of the drive is invalid	The parameter MotorType of the drive has been adapted.	See property sMsg for expected value.

StaticFrictionInvalid

Enumeration name:	StaticFrictionInvalid
Enumeration value:	81
Description:	StaticFriction is invalid.

Issue	Cause	Solution
The parameter StaticFriction of the drive is invalid.	The parameter StaticFriction is <> 0.	Ensure that the parameter StaticFriction is 0.

TaskIntervalInvalid

Enumeration name:	TaskIntervalInvalid
Enumeration value:	31
Description:	The interval of the task is invalid.

Issue	Cause	Solution
SR_SlowCyclicExecution is called with an invalid task interval.	The task that calls SR_SlowCyclicExecution has an invalid task interval.	Ensure that SR_SlowCyclicExecution is called in a task with 10 ms interval.

UserDefinedStopModeInvalid

Enumeration name:	UserDefinedStopModeInvalid
Enumeration value:	93
Description:	UserDefinedStopMode is invalid.

Issue	Cause	Solution
The parameter UserDefinedStopMode of the drive is invalid.	The parameter UserDefinedStopMode of the drive has been adapted.	See property sMsg for expected value.

UserDrivePeakCurrentInvalid

Enumeration name:	UserDrivePeakCurrentInvalid
Enumeration value:	71
Description:	The UserDrivePeakCurrent is invalid.

Issue	Cause	Solution
The parameter UserDrivePeakCurrent of the drive is invalid.	The parameter UserDrivePeakCurrent of the drive has been adapted.	See property sMsg for expected value.

VirtualDrives

Enumeration name:	VirtualDrives
Enumeration value:	11
Description:	The drives are virtual.

Drives are virtual.

ViscousFrictionInvalid

Enumeration name:	ViscousFrictionInvalid
Enumeration value:	82
Description:	ViscousFriction is invalid.

Issue	Cause	Solution
The parameter StaticFriction of the drive is invalid.	The parameter StaticFriction is <> 0.	Ensure that the parameter StaticFriction is 0.

WorkingStateInvalid

Enumeration name:	WorkingStateInvalid
Enumeration value:	70
Description:	The WorkingState is invalid.

Issue	Cause	Solution
The parameter WorkingState of a drive is invalid.	The parameter WorkingState of a drive is different to the WorkingState of the other drives of the robot.	Ensure that all drives used for one robot have the same value for the parameter WorkingState.

YOffsetEnableInvalid

Enumeration name:	YOffsetEnableInvalid
Enumeration value:	83
Description:	YOffsetEnable is invalid.

Issue	Cause	Solution
The parameter YOffsetEnable is invalid.	YOffsetEnable is active.	Ensure that the parameter YOffsetEnable is not used.

Methods

Name	Description
GetControlLoopParameter	Read the parameter, which influences the control loop of the Lexium P Robot axes.
GetKinematicParameter	Read kinematic parameter for a Lexium P Robot.
RegisterLoggerPoint	Register the FB_RobotPSeries to the Application Logger.
SetControlLoopParameter	Set parameter to influence the control loop of the Lexium P Robot axes.
CheckPositionInWorkEnvelope	Verify whether a given coordinate is inside the robot work envelope.
SetDigitalTwinConfigData	Set the configuration data for the EcoStruxure Machine Expert Twin communication of the Lexium P Robot.
GetDigitalTwinConfigData	Read the configuration data for the EcoStruxure Machine Expert Twin communication of the Lexium P Robot.
GetRobotData	Read the parameters of the configured robot type.
SetKinematicParameter	Set kinematic parameter for a Lexium P Robot.

Inherited Methods

Name	Description
InitializeRobot	Initialize the robot and its axes.
InitializeRotationalAxis	Initialize the rotational axis of the robot, if necessary.
OptionalEquipment	Set optional equipment of the robot.

Properties

Name	Data type	Accessing	Description
etDiag	GD.ET_Diag	Read	General library-independent statement of 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
etRotationalAxis	ROB.ET_RobotComponent	Read	Get the ET_RobotComponent.AuxAx that was used for the rotational axis.
ifCalibration	IF_RobotPSeriesCalibration	Read	Get the interface to execute calibration modes.
ifFastMove	SER.IF_FastMove	Get	The property returns an interface of the type SER.IF_FastMove that can be used to configure and control the feature FastMoveFastMove.
ifFeedback	IF_RobotPSeriesFeedback	Read	Get the interface of a Lexium P Robot to retrieve calculated values of a virtual motor.
ifSchneiderElectricRobot	ROB.IF_SchneiderElectricRobot	Read	Get the interface for the configuration method ROB.IF_RobotConfiguration.SchneiderElectricRobot
sMsg	STRING[80]	Read	Event-triggered message that gives more detailed information on the diagnostic state.
xAxesConfigured	BOOL	Read	TRUE: The axes have been configured successfully.
xDiagQuit	BOOL	Read/Write	A rising edge FALSE->TRUE acknowledges diagnostic messages.
xDisableWorkEnvelopeMoveCmds	BOOL	Read/Write	TRUE: Disable the verification of target, circular, and spline points when sending move commands to the robot. Default value: FALSE In case of xDisableWorkEnvelopeMoveCmds activated and the robot is outside the work envelope, the robot accepts the move commands and returns ET_Diag = Ok. The robot starts the movement but will immediately stop.
xRobotInWorkEnvelope	BOOL	Read	The bit can be used to verify if the robot TCP is inside the work envelope. TRUE: The robot TCP is inside the work envelope. FALSE: The robot TCP is outside the work envelope. The feedback is updated in the task SR_SlowCyclicExecution. Therefore, there might be a delay of a few ms until the property shows the correct value.