FB_CobotController - General Information

Overview

Type:	Function block
Available as of:	V1.0.1.0
Inherits from:	-
Implements:	IF_CobotController

This chapter provides information on:

Task
Description
Interface
Diagnostic Messages
Methods
Properties

Task

The function block is used to interact with a Lexium Cobot.

Description

The function block provides several methods and properties to establish a TCP connection to a Lexium Cobot controller and to interact with it by sending commands or getting feedback data. The function block is implemented as a TCP client. An individual instance of the function block must be instantiated for each Lexium Cobot controller to establish a TCP connection.

Interface

Input	Data type	Description
i_xEnable	BOOL	A rising edge FALSE –> TRUE activates and initializes the function block. A falling edge TRUE –> FALSE deactivates the function block. A deactivated function block does not execute any actions and all outputs are set to the default value.
i_xErrorQuit	BOOL	When an error is detected and reported at the diagnostic outputs of the function block, the machine enters an error state. A rising edge at this input resets the error and the diagnostic outputs. The function block resumes its working state.

Input

Data type

Description

i_xEnable

BOOL

A rising edge FALSE –> TRUE activates and initializes the function block.

A falling edge TRUE –> FALSE deactivates the function block.

A deactivated function block does not execute any actions and all outputs are set to the default value.

i_xErrorQuit

BOOL

When an error is detected and reported at the diagnostic outputs of the function block, the machine enters an error state.

A rising edge at this input resets the error and the diagnostic outputs.

The function block resumes its working state.

Output	Data type	Description
q_xError	BOOL	Value is TRUE if an error was detected. For details, refer to q_etResult and q_sResultMsg.
q_xActive	BOOL	TRUE: The POU is active and must continue its processing until FALSE. FALSE: The POU is inactive.
q_xReady	BOOL	TRUE: The POU is ready to operate and can accept user commands. FALSE: The function block is not ready to accept user commands.
q_etResult	ET_Result	Provides diagnostic and status information as a numeric value. If q_xError = FALSE, q_etResult provides status information. If q_xError = TRUE, q_etResult provides diagnostic/error information.
q_sResultMsg	STRING[80]	Provides additional diagnostic and status information as a text value.

Diagnostic Messages

q_xError	q_etDiagExt	Enumeration value	Description
FALSE	Disabled	1	The function block is disabled.
FALSE	WaitUntilDisabled	3	The function block is being disabled.
FALSE	Working	2	The function block is enabled and working.
TRUE	AddressInUse	15	The requested address is already in use.
TRUE	CaseLabelUnknown	21	The case label is undefined.
TRUE	CertificateInvalid	20	The certificate is invalid.
TRUE	CertificateNotFound	17	The certificate was not found.
TRUE	CertificateVerificationFailed	18	The verification of the certificate was not successful.
TRUE	CommandCallFailed	23	The command call was not successful.
TRUE	CommandResponseCorrupt	13	The command response is invalid.
TRUE	CommandResponseError	14	The command response reports a detected error.
TRUE	ConnectionClosedByPeer	37	The connection is closed by peer.
TRUE	ConnectionRefused	16	The connection was refused.
TRUE	InitTlsContextFailed	19	The initialization of the TLS context was not successful.
TRUE	RespondedCommandInvalid	12	The responded command is invalid.
TRUE	ResultUnknown	8	The result is undefined.
TRUE	Timeout	9	A timeout occurred.

AddressInUse

Enumeration name:	AddressInUse
Enumeration value:	15
Description:	The requested address is already in use.

Issue	Cause	Solution
The function block cannot execute operations.	The IP address / port combination is not unique.	Verify that the combination of IP address and port is unique and not used by another client. For FB_CobotController, port 10001 (refer to Gc_uiPortCobotController) is used to establish a connection to a Lexium Cobot controller.

Issue

Cause

Solution

The function block cannot execute operations.

The IP address / port combination is not unique.

Verify that the combination of IP address and port is unique and not used by another client.

For FB_CobotController, port 10001 (refer to Gc_uiPortCobotController) is used to establish a connection to a Lexium Cobot controller.

CaseLabelUnknown

Enumeration name:	CaseLabelUnknown
Enumeration value:	21
Description:	The case label is undefined.

Issue	Cause	Solution
The function block cannot execute operations.	A case instruction did not cover the requested value.	Contact your Schneider Electric representative.

CertificateInvalid

Enumeration name:	CertificateInvalid
Enumeration value:	20
Description:	The certificate is invalid.

Issue	Cause	Solution
The function block cannot execute operations.	The certificate located in the folder Trusted Certificates in the Security Screen does not have a private key. For further information, refer to the Security Screen (Machine Expert > V2.0 > Software > Programming > Menu Commands Online Help > Security Screen ) in the Online Help.	Contact your Schneider Electric representative.

Issue

Cause

Solution

The function block cannot execute operations.

The certificate located in the folder Trusted Certificates in the Security Screen does not have a private key.

For further information, refer to the Security Screen (Machine Expert > V2.0 > Software > Programming > Menu Commands Online Help > Security Screen ) in the Online Help.

Contact your Schneider Electric representative.

CertificateNotFound

Enumeration name:	CertificateNotFound
Enumeration value:	17
Description:	The certificate was not found.

Issue	Cause	Solution
The function block cannot execute operations.	The certificate could not be found in the certificate store of the controller.	The LXM_Cobot certificate must be in the folder Trusted Certificates in the Security Screen. For further information, refer to the Security Screen (Machine Expert > V2.0 > Software > Programming > Menu Commands Online Help > Security Screen ) in the Online Help.

Issue

Cause

Solution

The function block cannot execute operations.

The certificate could not be found in the certificate store of the controller.

The LXM_Cobot certificate must be in the folder Trusted Certificates in the Security Screen.

For further information, refer to the Security Screen (Machine Expert > V2.0 > Software > Programming > Menu Commands Online Help > Security Screen ) in the Online Help.

CertificateVerificationFailed

Enumeration name:	CertificateVerificationFailed
Enumeration value:	18
Description:	The verification of the certificate was not successful.

Issue	Cause	Solution
The function block cannot execute operations.	The certificate is not trusted or is not valid.	The LXM_Cobot certificate must be in the folder Trusted Certificates in the Security Screen. For further information, refer to the Security Screen (Machine Expert > V2.0 > Software > Programming > Menu Commands Online Help > Security Screen ) in the Online Help.

Issue

Cause

Solution

The function block cannot execute operations.

The certificate is not trusted or is not valid.

The LXM_Cobot certificate must be in the folder Trusted Certificates in the Security Screen.

For further information, refer to the Security Screen (Machine Expert > V2.0 > Software > Programming > Menu Commands Online Help > Security Screen ) in the Online Help.

CommandCallFailed

Enumeration name:	CommandCallFailed
Enumeration value:	23
Description:	The command call was not successful.

Issue	Cause	Solution
The function block cannot execute operations.	The Lexium Cobot controller reported that the command call was not successful.	Contact your Schneider Electric representative.

CommandResponseCorrupt

Enumeration name:	CommandResponseCorrupt
Enumeration value:	13
Description:	The command response is invalid.

Issue	Cause	Solution
The function block cannot execute operations.	The command response of Lexium Cobot controller is invalid and cannot be interpreted.	Contact your Schneider Electric representative.

CommandResponseError

Enumeration name:	CommandResponseError
Enumeration value:	14
Description:	The command response reports a detected error.

Issue	Cause	Solution
The function block cannot execute operations.	The command sent to the Lexium Cobot Controller was not successfully executed. The command response contains an error.	Refer to q_sResultMsg for further information about the reported error. Refer to FB_CobotControllerFeedback.rstData.stLogData for further information about the reported error.

Issue

Cause

Solution

The function block cannot execute operations.

The command sent to the Lexium Cobot Controller was not successfully executed. The command response contains an error.

Refer to q_sResultMsg for further information about the reported error.

Refer to FB_CobotControllerFeedback.rstData.stLogData for further information about the reported error.

ConnectionRefused

Enumeration name:	ConnectionRefused
Enumeration value:	16
Description:	The connection was refused.

Issue	Cause	Solution
The function block cannot execute operations.	The attempt to establish a connection is unsuccessful because the Lexium Cobot controller denied it.	Verify that only one connection to a Lexium Cobot controller is established.

ConnectionClosedByPeer

Enumeration name:	ConnectionClosedByPeer
Enumeration value:	37
Description:	The connection is closed by peer.

Issue	Cause	Solution
The function block cannot execute operations.	The established TCP connection was closed by the Lexium Cobot controller.	Re-establish the connection to the Lexium Cobot controller using the method Connect() or ConnectTLS().

Disabled

Enumeration name:	Disabled
Enumeration value:	1
Description:	The function block is disabled.

Issue	Cause	Solution
The function block cannot execute operations.	The function block is disabled. A disabled function block does not execute any actions and all outputs are set to the default value.	Ensure that the function block is enabled. Enable the function block by setting the input i_xEnable to TRUE. The function block will report TRUE at its outputs q_xActive and q_xReady after the enable routine is successfully finished.

Issue

Cause

Solution

The function block cannot execute operations.

The function block is disabled.

A disabled function block does not execute any actions and all outputs are set to the default value.

Ensure that the function block is enabled.

Enable the function block by setting the input i_xEnable to TRUE. The function block will report TRUE at its outputs q_xActive and q_xReady after the enable routine is successfully finished.

InitTlsContextFailed

Enumeration name:	InitTlsContextFailed
Enumeration value:	19
Description:	The initialization of the TLS context was not successful.

Issue	Cause	Solution
The function block cannot execute operations.	Internal error was detected while initializing the TLS context.	A maximum of 10 TLS connections can be established at the same time. Ensure that no more than 10 TCP connections using TLS are established.

Issue

Cause

Solution

The function block cannot execute operations.

Internal error was detected while initializing the TLS context.

A maximum of 10 TLS connections can be established at the same time.

Ensure that no more than 10 TCP connections using TLS are established.

RespondedCommandInvalid

Enumeration name:	RespondedCommandInvalid
Enumeration value:	12
Description:	The responded command is invalid.

Issue	Cause	Solution
The function block cannot execute operations.	The responded command of the Lexium Cobot controller does not correspond to the last command sent.	Contact your Schneider Electric representative.

ResultUnknown

Enumeration name:	ResultUnknown
Enumeration value:	8
Description:	The result is undefined.

Issue	Cause	Solution
The function block cannot execute operations.	A case instruction did not cover the reported result.	Contact your Schneider Electric representative.

Timeout

Enumeration name:	Timeout
Enumeration value:	9
Description:	A timeout occurred.

Issue	Cause	Solution
The function block cannot execute operations.	A timeout occurred while establishing a connection with the Lexium Cobot controller.	Re-establish the connection to the Lexium Cobot controller by calling the method Connect() or ConnectTLS().
The function block cannot execute operations.	A timeout occurred while retrieving the response to an assigned command from the Lexium Cobot controller. The established connection to the Lexium Cobot controller was disconnected.	Re-establish the connection to the Lexium Cobot controller by calling the method Connect() or ConnectTLS().

WaitUntilDisabled

Enumeration name:	WaitUntilDisabled
Enumeration value:	3
Description:	The function block is being disabled.

The input i_xEnable of the function block was set from TRUE to FALSE.

The function block will be disabled.

Working

Enumeration name:	Working
Enumeration value:	2
Description:	The function block is enabled and working.

Methods

Name	Description
CalcForwardKinematics	Calculates the cartesian pose corresponding to user defined positions of the robot joints.
CalcInverseKinematics	Calculates the positions of the robot joints corresponding to user defined cartesian pose.
ClearFault	Clears a detected collision error/warning of the Lexium Cobot.
Connect	Establishes a connection to the TCP server of a Lexium Cobot controller without using TLS encryption.
ConnectTLS	Establishes a connection to the TCP server of a Lexium Cobot controller using TLS encryption.
DisableRobot	Disables the Lexium Cobot arm.
Disconnect	Disconnects an established connection from the TCP server of a Lexium Cobot controller.
EnableRobot	Enables the Lexium Cobot arm.
GetControlSource	Retrieves the source controlling the Lexium Cobot.
GetCoordinateSystems	Retrieves the user defined coordinate systems of the Lexium Cobot.
GetLoadedProgramName	Retrieves the name of the loaded program from the Lexium Cobot controller.
GetPayload	Retrieves the configured parameters of the payload which is mounted to the Lexium Cobot arm.
GetSystemVariables	Retrieves the user defined system variables of the Lexium Cobot controller.
GetTCPs	Retrieves the user defined TCPs of the Lexium Cobot.
JogStart	Starts a jog movement of the Lexium Cobot.
LoadProgram	Loads a program by name on the Lexium Cobot controller.
SetSystemVariable	Sets a user defined system variable of the Lexium Cobot controller.
MoveC	Executes a circular movement for the Lexium Cobot.
MoveJ	Executes a joint movement for the Lexium Cobot.
MoveL	Executes a linear movement for the Lexium Cobot.
MoveTCP	Executes a joint movement for the Lexium Cobot based on a target pose.
PauseProgram	Pauses the running program on the Lexium Cobot controller.
PowerOff	Switches the power off the Lexium Cobot arm.
PowerOn	Switches the power on the Lexium Cobot arm.
RegisterLoggerPoint	Registers the function block to the Application Logger.
ResumeProgram	Resumes to the loaded program on the Lexium Cobotcontroller.
SelectCoordinateSystem	Selects the coordinate system in which the Lexium Cobot must move.
SelectTCP	Selects the TCP with which the Lexium Cobot must move.
SetAnalogOutput	Sets an analog output of the Lexium Cobot cabinet.
SetDigitalOutput	Sets a digital output of the Lexium Cobot.
SetSpeedOverride	Sets the speed override of the Lexium Cobot controller.
SetPayload	Sets the parameters of the payload which is mounted to the Lexium Cobot arm.
StartProgram	Starts the loaded program on the Lexium Cobot controller.
StopRobotMovement	Stops the execution and aborts the running program on the Lexium Cobot controller or stops robot movements executed by move commands.

Properties

Name	Data type	Accessing	Description
etConnectionState	ET_ConnectionState	Read	Specifies the connection state of the function block to the Lexium Cobot controller.
xCommandAcknowledged	BOOL	Read	TRUE: The sent command is acknowledged by the Lexium Cobot controller as successful.
xCommandFailed	BOOL	Read	TRUE: The sent command is acknowledged by the Lexium Cobot controller as unsuccessful.
xTLSUsed	BOOL	Read	TRUE: A connection to the TCP server of a Lexium Cobot controller using TLS encryption is established.