Initial Start-Up

Overview

This chapter explains the steps to operate a Lexium SCARA Robot in the program.

The required libraries are:

• SchneiderElectricRobotics

• SchneiderElectricRobotics Parameters

• Robotic or RoboticModule

Instances

Every Lexium SCARA Robot requires its own instance of SER.FB_RobotSCARA. (for example fbRSP503: SER.FB_RoboticSCARA) 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 SCARA Robot by calling the method fbRSP503.InitializeRobot().

Connect the FB_RobotSCARA 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 fbRSP503.ifSchneiderElectricRobot.

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

Call SER.SR_SlowCyclicExecution

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

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

Declaration

VAR
   ifConfiguration : ROB.IF_RobotConfiguration;
   //ifConfiguration : RM.IF_Configuration;
   fbSCARA : SER.FB_RobotSCARA;
   etDiag : GD.ET_Diag;
   etDiagExt : ROB.ET_DiagExt;
   //etDiagExtRm : RM.ET_DiagExt;

   etDiagExtSer : SER.ET_DiagExt;
   etDiagExtSerp : SERP.ET_DiagExt;
   sMsg : STRING[80];
END_VAR

Code

// Get interface instance
ifConfiguration := fbRobot.ifConfiguration;
// ifConfiguration := stRobotInterface.iq_ifConfiguration;
// Initialize SCARA
fb.SCARA.InitializeRobot(i_etRobotType := SERP.ET_RobotSCARA.LXMRSP0,
    i_ifDriveA  := DRV_RobotDriveA,
    i_ifDriveB  := DRV_RobotDriveB,
    i_ifDriveC  := DRV_RobotDriveC,
    i_ifDriveD  := DRV_RobotDriveD,
    q_etDiag    => etDiag,
    q_etDiagExt => etDiagExt,
    q_sMsg      => sMsg);

// Configure SCARA
ifConfiguration.SchneiderElectricRobot( i_ifRobot := fbSCARA.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