IF_RobotSCARA - General Information

Overview

Type:	Function block
Available as of:	V.2.16.2.0
Inherits from:	-

This chapter provides information on:

Task
Description
Methods
Properties

Task

Facilitate the use of methods and properties of FB_RobotSCARA.

Description

With the IF_RobotSCARA interface, you can access the methods and properties of FB_RobotSCARA.

The Schneider Electric service team needs an interface to your application to perform maintenance of the robot. To provide this interface, add VIS_ServiceMode as web visualization to your project. For details, refer to Service Mode - Adding the Web Visualization.

Methods

Name	Description
CheckPositionInWorkEnvelope	Verifies whether a given coordinate is inside the robot work envelope.
GetPositionLimitAxis	Reads the position limits of axes for a Lexium SCARA Robot.
SetPositionLimitAxis	Sets the position limits of axes for a Lexium SCARA Robot.

Properties

Name	Data type	Accessing	Description
etDiag	GD.ET_Diag	Read	General library-independent statement of the diagnostic. A value not equal 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
etRobotType	SERP.ET_RobotSCARA	Read	Get the configured robot type.
ifSchneiderElectricRobot	ROB.IF_SchneiderElectricRobot	Read	Get the interface for the configuration method ROB.IF_RobotConfiguration.SchneiderElectricRobot
raxLastPositionCheckOK	Reference to Array [ROB.ET_PositionType.Start...ROB.ET_PositionType.SpaceTarget] of BOOL For further information, refer toROB.ET_PositionType	Read	TRUE: The last position of the ET_PositionType checked was inside the work envelope. FALSE: The last position of the ET_PositionType checked was outside the work envelope. The bit can be used to check if the robot TCP is inside the work envelope. The feedback Stopped due to work envelope can be used to verify which position is invalid. This is an addition to the existing entries into the exception list and the application logger.
sMsg	STRING[80]	Read	Event-triggered message that gives more 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.

raxLastPositionCheckOK

When the property returns FALSE for an individual component, the verification for this component is not successful.
If the robot has stopped its motion and raxLastPositionCheckOK[ROB.ET_PositionType.StopPosition] is FALSE, the robot is stopped because the estimated stop position is outside the work envelope. This can be either during jogging or in automatic mode.
When the bits for SpaceTarget, Target, SplinePoint and Circular are FALSE , the respective component of a move command is outside the work envelope.
SpaceTarget is the previous target position in this case.
If the bit Start is FALSE, the verification during warm or cold start indicates that the TCP is outside the work envelope.
RefPositionSpace becomes FALSE, when the TCP is outside the work envelop and when a jogging of the TCP has started.

NOTE: xDisableWorkEnvelopeMoveCmds = TRUE will inhibit these checks.