Using AdditionalTransformationTCP

Creating an Additional TCP Transformation

Step	Action
1	In the Devices tree or the POUs tree, select Add Object > POU... from the contextual menu. Result: The Add POU dialog is displayed.
2	Enter a Name for your function block
3	Select Function Block.
4	Activate the Extends check box.
5	Click the browse button (...) next to the input field to open the Input Assistant.
6	Select Categories > Functionblocks > ROB > Robotic > Configuration > FB_AdditionalTransformationTCP.
7	Confirm with OK. Result: The Add POU dialog is displayed.
8	Activate the Implements check box.
9	Click the browse button (...) next to the input field to open the Input Assistant.
10	Select Categories > Interfaces > ROB > Robotic > Configuration > IF_AdditionalTransformationTCP.
11	Confirm with OK. Result: The Add POU dialog is displayed.
12	Click Add.
13	In case your function block was created with a method Change attached, delete the method.
14	Add further code to the function block.

Implementing a Tool Change

The following sections provide example code for a tool change. You can adopt names and types of the variables to your needs.

Implementing a Tool Change in the Transformation Function Block

Step	Action
1	Add a function block for the additional TCP transformation to your project.
2	Add two variables to the function block: `udiToolSelected : UDINT := 1;` `udiToolActive : UDINT := 1;`
3	Add a Property (udiTool) to the function block:
4	Implement the method Set: THIS^.udiToolSelected := udiTool;
5	Implement the method Get: `udiTool := THIS^.udiToolActive;`
6	Implement the method Direct:
7	Implement the method Inverse:

NOTE: The tool change is implemented in Direct and Inverse in the same way. If a tool change is requested, only one of the two methods is called with i_xChange = TRUE. So this call has to switch the tool for both methods.

Implementing a Tool Change in the Motion Program

Step	Action
1	State n, switch tool to 1:
2	State n+1, verify that tool was switched to 1:

Implementing an Interface to Control a Tool Change in the Motion Program

Step	Action
1	In the Devices tree or the POUs tree, select Add Object > Interface... from the contextual menu. Result: The Add Interface dialog box is displayed.
2	Enter a IF_AdditionalTransformationTCP as name for your interface.
3	Copy and paste the property udiTool from the previously created FB_AdditionaltransformationTCP to the new interface.
4	Click Add.
5	In the Devices tree or the POUs tree, right-click on the new interface and select Add Object > Interface method... from the contextual menu. Result: The Add Interface method dialog box is displayed.
6	Enter Change as name for the method.
7	Click Add.
8	Double click on the `METHOD Change` of the interface and add the following output variables:
9	Add the new interface to the Implements of FB_AdditionalTransformationTCP.
10	Declare an input of type IF_AdditionalTransformationTCP in SR_RobotMotion.
11	Declare an instance of the function block in SR_RobotModule.
12	Open Logic_Action of SR_RobotModule and add the new input with the previously declared instance of FB_AdditionalTransformationTCP to the call of SR_RobotMotion.
13	This interface can now be used to control a tool change in SR_RobotMotion.