Initial Start-Up

Overview

This chapter explains what steps have to be taken to operate a Lexium P Robot in the program.

The following libraries are required:

• SchneiderElectricRobotics

• SchneiderElectricRobotics Parameters

• Robotic or RoboticModule

Instances

Every Lexium P Robot requires its own instance of SER.FB_RoboticPSeries. (for example fbP4S0R : SER.FB_RoboticPSeries) and its instance of ROB.FB_Robot (for example fbRobot : ROB.FB_Robot) or an instance of the RM.FB_RoboticModule.

Initialize

Initialize the Lexium P Robot by calling the method fbP4S0R.InitializeRobot().

If the output q_xRotationalAxisRequired is TRUE, then the robot you selected has a rotational axis and you have to call fbP4S0R.InitializeRotationalAxis().

Connect the FB_RoboticPSeries to the FB_Robot by configuring the FB_Robot. Call fbRobot.ifConfiguration.SchneiderElectricRobot() for the RoboticModule and accordingly stRobotInterface.iq_ifConfiguration.SchneiderElectricRobot(). At the input i_ifRobot, assign fbP4S0R.ifSchneiderElectricRobot.

The configuration is completed by calling the methods SetEmergencyParameter() and ConfigDone().

Additional Configuration

The Lexium P Robot can be adapted with several methods:

• OptionalEquipment()

• SetKinematicParameter()

• SetControlLoopParameter()

Call SER.SR_SlowCyclicExecution

Call the program SER.SR_SlowCyclicExecution in a task with task interval 10 ms.

The program has to be called only once, even if several robots of SchneiderElectricRobotics are used.

Declaration

VAR
   ifConfiguration : ROB.IF_RobotConfiguration;
   //ifConfiguration : RM.IF_Configuration;
   fbPSeries : SER.FB_RobotPSeries;
   etDiag : GD.ET_Diag;
   etDiagExt : ROB.ET_DiagExt;
   //etDiagExtRm : RM.ET_DiagExt;
   etDiagExtSer : SER.ET_DiagExt;
   etDiagExtSerp : SERP.ET_DiagExt;
   sMsg : STRING[80];
   xRotationalAxisRequired : BOOL;
   lrPeriodStart : LREAL;
   lrPeriodLength : LREAL;
END_VAR

Code

// Get interface instance
ifConfiguration := fbRobot.ifConfiguration;
// ifConfiguration := stRobotInterface.iq_ifConfiguration;
// Initialize P-Series
fbPSeries.InitializeRobot(i_etRobotType := SERP.ET_RobotPSeries.VR,
                              i_ifDriveA := DRV_RobotDriveA,
                              i_ifDriveB := DRV_RobotDriveB,
                              i_ifDriveC := DRV_RobotDriveC,
                              q_etDiag => etDiag,
                              q_etDiagExt => etDiagExt,
                              q_sMsg => sMsg,
                              q_xRotationalAxisRequired => xRotationalAxisRequired);
IF xRotationalAxisRequired THEN
   fbPSeries.InitializeRotationalAxis(i_ifDrive := DRV_RobotDriveRotAx,
                              i_lrPeriodStart := lrPeriodStart,
                              i_lrPeriodLength := lrPeriodLength,
                              q_etDiag => etDiag,
                              q_etDiagExt => etDiagExt,
                              q_sMsg => sMsg);

END_IF

// Configure P-Series
ifConfiguration.SchneiderElectricRobot( i_ifRobot := fbPSeries.ifSchneiderElectricRobot,
                                       q_etDiag => etDiag,
                                       q_etDiagExt => etDiagExtSer,
                                       q_sMsg => sMsg);

// Call configuration method for the emergency parameter
ifConfiguration.SetEmergencyParameter( i_lrMaxDeceleration := 10000.0,
                                       i_lrRamp := 25.0,
                                       q_etDiag => etDiag,
                                       q_etDiagExt => etDiagExt,
                                       q_sMsg => sMsg);

// Sign config done
ifConfiguration.ConfigDone(q_etDiag => etDiag,
                           q_etDiagExt => etDiagExt,
                           q_sMsg => sMsg);

Necessary Parameters for Applied Drives P0 - P1

Necessary Parameters for Applied Drives P2 - P6

Parameters for Jogging Main Axes A, B, C

Parameters for Jogging Main Axes RotationalAxis (AuxAx)

Parameters for Jogging Cartesian Direction X, Y, Z