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TcoAbbRobotics.slnf	TcoAbbRobotics.slnf

TcoAbbRobotics

Introduction

The TcoAbbRobotics is a set of libraries that cover two product platforms in ABB's manufacturing portfolio: the IRC5 and the Omnicore platform." for the target PLC platform Twincat and TcOpen framework.

The package consists of a PLC library providing control logic and its .NET twin counterpart aimed at the visualization part.

General TcOpen Prerequisites

Check general prerequisites for TcOpen here.

TcoAbbRobotics

PLC enviroment

Preconditions: The `gsdml` file(s) should be copied into the subfolder ..\Config\Io\EtherCat\ of the TwinCAT3 instalation folder, before opening Visual Studio. The Profinet interface of the slave device is activated. The file depends on manufacturer of drive. Robot settings needs to by done in settings by RobotStudio sfotware by ABB or directly via robot teach pendant.

Preconditions: The robot software is part of repository. Use RobotStudio to open project. And transfer it to robot.

Implementation steps.

1. Declare the hardware structures in the Global Variable list (GVL).

VAR_GLOBAL
  	Robot1	:	TcoAbbRobotics.TcoIrc5_IO_v_1_x_x;
	Robot2	:	TcoAbbRobotics.TcoOmnicore_IO_v_1_x_x;
END_VAR

2. Build the XAE project.

3. Add Profinet master device, set its network adapter and network parameters.

4. Scann for new Profinet devices, or use already prepared `xti` files and use `Add Existing`. This files are localized in `.\src\TcoAbbRobotics\src\TcoAbbRoboticsConnector\ddf\`. `Robot1.xti` is valid for Irc5 and `Robot2.xti` for `Omnicore`

5. Connect your Gvl structures with hardware. Refers to bechokff documentation if there are some issues, or for guidance how to mapping.

6. Create the Function Block that extends the `TcoCore.TcoContext` function block.

7. Inside the declaration part of the function block created, add an instance of the `TcoAbbRobotics.TcoIrc5_v_1_x_x` or `TcoAbbRobotics.TcoOmnicore_v_1_x_x`. Add the `Main` method into this function block and insert the instances. Call with passing the mapped hardware structure

FUNCTION_BLOCK WpfContext EXTENDS TcoCore.TcoContext
VAR
     {attribute addProperty Name "<#Abb IRC 5#>"}
    _robot1 : TcoAbbRobotics.TcoIrc5_v_1_x_x(THIS^);
	{attribute addProperty Name "<#Abb Omnicore#>"}
    _robot2 : TcoAbbRobotics.TcoOmnicore_v_1_x_x(THIS^);


END_VAR

8. Here instances are called with passing the mapped hardware structure. By calling method `Service()` , all control elements of this component are accessible later in the visualization. By calling method `Service` is allowed control elements(components) via visualisation (service/ manual mode)

/IF _serviceModeActive THEN
   	_robot1.Service();
  	_robot2.Service();
 


END_IF
_robot1(
    inoData := GVL.Robot1);


_robot2(
    inoData := GVL.Robot2);

9. In the declaration part of the `MAIN(PRG)` create an instance of the function block created in the step 7 according to the example.

PROGRAM MAIN
VAR
      _wpfContext : WpfContext;
END_VAR

10. Into the body of the `MAIN(PRG)` add the call of the `Run()` method of the instance created in the previous step, according to the example.

_wpfContext.Run();

14. Build and save the XAE project.

15. Activate configuration, load the PLC program and swith the PLC into the run mode.

.NET enviroment

Preconditions: All neccessary packages are installed, all neccessary references are set, connector to the target PLC is set.

Implementation steps.

1. Run the `Vortex Builder`.

2. Into the `MainWindow.xaml` define `DataContext` to the `MAIN` of the `TcoAbbRoboticsTestsPlc`.

<Window x:Class="TcoAbbRobotics.Wpf.Sandbox.MainWindow"
        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
        xmlns:tcopen="clr-namespace:TcoAbbRoboticsTests;assembly=TcoAbbRoboticsTestsConnector"
        xmlns:vortex="http://vortex.mts/xaml" 
        Title="MainWindow"
        Width="800"
        Height="450"
        DataContext="{x:Static tcopen:Entry.TcoAbbRoboticsTestsPlc}"
        mc:Ignorable="d">


</Window>

       static string TargetAmsId = Environment.GetEnvironmentVariable("Tc3Target");
        static int TargetAmsPort = 852;

        public static TcoAbbRoboticsTestsTwinController TcoAbbRoboticsTestsPlc { get; }
            = new TcoAbbRoboticsTestsTwinController(Vortex.Adapters.Connector.Tc3.Adapter.Tc3ConnectorAdapter.Create(TargetAmsId, TargetAmsPort, true));

3. Into the container added, insert the `RenderableContentControl` and bind its `DataContext` to the `_robot1 : TcoAbbRobotics.TcoIrc5_v_1_x_x(THIS^)` or `_robot2 : TcoAbbRobotics.TcoOmnicore_v_1_x_x(THIS^)`, using the `PresentationType` of the value `Service`.

    <vortex:RenderableContentControl Grid.Row="0" DataContext="{Binding MAIN._wpfContext._robot1}" PresentationType="Service"/>
	<vortex:RenderableContentControl Grid.Row="0" DataContext="{Binding MAIN._wpfContext._robot2}" PresentationType="Service"/>

#### 4. After starting the application and expanding the view, final view should look as follows:

Collapsed Service view

Expanded (detailed info) view

Service view report an error notification

Plc Example usage in sequencer

seq REF= _sequence1;

seq.Open();
seq.Observer := _observer;




 
		
IF (seq.Step(inStepID := 0,
    inEnabled := TRUE,
    inStepDescription := 'READY TO START')) THEN
    //--------------------------------------------------------
	_param.GlobalSpeed :=100;
		_noOfAttmets:=0;

	answer := _dialog			
			.Show()	
			.WithType(eDialogType.Question)				
			.WithCaption('Ready to go?')
			.WithText('Do you really want to start movements? Do we go ahead?')			
			.WithYesNo().Answer;
			//
			
	 IF (answer = TcoCore.eDialogAnswer.Yes) THEN    	 	
		seq.CompleteStep();
	 ELSIF(answer = TcoCore.eDialogAnswer.No) THEN
		_sequence1Task.Restore();
	 END_IF;	

    //--------------------------------------------------------			
END_IF;


IF (seq.Step(inStepID := 10,
    inEnabled := TRUE,
    inStepDescription := 'RESTORE')) THEN
//--------------------------------------------------------   
	
	_robot1.Restore();
	seq.CompleteStep();
	
		
//--------------------------------------------------------			
END_IF;
IF (seq.Step(inStepID := 11,
    inEnabled := TRUE,
    inStepDescription := 'STOP MOVEMENTS AND PROGRAM')) THEN
//--------------------------------------------------------   
	
	 	IF _robot1.StopMovementsAndProgram(inStopType:=eTcoRoboticsStopType.Soft).Done  THEN
			seq.CompleteStep();
		END_IF
		
//--------------------------------------------------------			
END_IF;

IF (seq.Step(inStepID := 12,
    inEnabled := TRUE,
    inStepDescription := 'START AT MAIN')) THEN
//--------------------------------------------------------   
	
	 	IF _robot1.StartAtMain().Done  THEN
			seq.CompleteStep();
		END_IF;
		
//--------------------------------------------------------			
END_IF;

IF (seq.Step(inStepID := 13,
    inEnabled := TRUE,
    inStepDescription := 'START MOTORS AND PROGRAM')) THEN
//--------------------------------------------------------   
	
	 	IF _robot1.StartMotorsAndProgram().Done  THEN
			seq.CompleteStep();
		END_IF;
		
//--------------------------------------------------------			
END_IF;

IF (seq.Step(inStepID := 14,
    inEnabled := TRUE,
    inStepDescription := 'START MOVEMENTS')) THEN
//--------------------------------------------------------   
	_maxAllowedAttempts:=10;
	
	
	seq.CompleteStep();
	
	
//--------------------------------------------------------			
END_IF;

IF (seq.Step(inStepID := 15,
    inEnabled := TRUE,
    inStepDescription := 'START MOVEMENTS')) THEN
//--------------------------------------------------------   
	_param.ActionNo:=100;
	
	IF _robot1.StartMovements(inData:=_param).Done   THEN
		seq.CompleteStep();
		_robot1.Restore();
	END_IF
	
//--------------------------------------------------------			
END_IF;


IF (seq.Step(inStepID := 16,
    inEnabled := TRUE,
    inStepDescription := 'START ANOTHER MOVE MOVEMENTS')) THEN
//--------------------------------------------------------   
	_param.ActionNo:=1;
	_param.GlobalSpeed:=90;
	IF _robot1.StartMovements(inData:=_param).Done  THEN
		IF _noOfAttmets<_maxAllowedAttempts THEN
			_noOfAttmets:=_noOfAttmets+1;
			seq.RequestStep(14);
			_robot1.Restore();
		ELSE 
		seq.CompleteStep();
		end_if;
	END_IF
	
//--------------------------------------------------------			
END_IF;















//
IF (seq.Step(inStepID := 500,
    inEnabled := TRUE,
    inStepDescription := 'EXAMPLE OF MOVMENT ABORTED')) THEN
//    --------------------------------------------------------

	answer := _dialog			
			.Show()	
			.WithType(eDialogType.Question)				
			.WithCaption('Abort movement?')
			.WithText('Do you  want to start movements and abort it?')			
			.WithYesNo().Answer;
			
			
	 IF (answer = TcoCore.eDialogAnswer.Yes) THEN    	 	
		seq.CompleteStep();
	 ELSIF(answer = TcoCore.eDialogAnswer.No) THEN
		_sequence1Task.Restore();
	 END_IF;	

//    --------------------------------------------------------			
END_IF;

IF (seq.Step(inStepID := 525,
    inEnabled := TRUE,
    inStepDescription := 'STOP MOVEMENT  EXAMPLE')) THEN
//    --------------------------------------------------------    
		

		answer := _dialog			
			.Show()	
			.WithType(eDialogType.Question)				
			.WithCaption('Movement running')
			.WithText('Do you  want to abort movement?')			
			.WithYesNo().Answer;
			
			
		 IF (answer = TcoCore.eDialogAnswer.Yes) THEN 
			_robot1.StopMovements(inStopType:=TcoAbstractions.eTcoRoboticsStopType.Quick);   	 	
			seq.CompleteStep();
		 ELSIF(answer = TcoCore.eDialogAnswer.No) THEN
			_sequence1Task.Restore();
		 END_IF;	
		
	_param.ActionNo:=100;	
	_param.GlobalSpeed :=20;
	IF _robot1.StartMovements(inData:=_param).Done  THEN
		seq.CompleteStep();
	END_IF
	
		
		
//    --------------------------------------------------------			
END_IF;

IF (seq.Step(inStepID := 600,
    inEnabled := TRUE,
    inStepDescription := 'ASKING FOR RESTORING')) THEN
//    --------------------------------------------------------

	answer := _dialog			
			.Show()	
			.WithType(eDialogType.Question)				
			.WithCaption('Question?')
			.WithText('Do you want to restore TcoIrc5 component?')			
			.WithYesNo().Answer;
			
			
	 IF (answer = TcoCore.eDialogAnswer.Yes) THEN    	 	
		_robot1.Restore();
		seq.CompleteStep();
	 ELSIF(answer = TcoCore.eDialogAnswer.No) THEN
		_sequence1Task.Restore();
	 END_IF;	
//    --------------------------------------------------------			
END_IF;

IF (seq.Step(inStepID := seq.RESTORE_STEP_ID,
    inEnabled := TRUE,
    inStepDescription := 'RETURN TO THE START OF THE SEQUENCE')) THEN
    //--------------------------------------------------------	
    	seq.CompleteSequence();
    //--------------------------------------------------------			
END_IF;

seq.Close();

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README.md

TcoAbbRobotics

Introduction

General TcOpen Prerequisites

TcoAbbRobotics

PLC enviroment

Preconditions: The robot software is part of repository. Use RobotStudio to open project. And transfer it to robot.

Implementation steps.

1. Declare the hardware structures in the Global Variable list (GVL).

2. Build the XAE project.

3. Add Profinet master device, set its network adapter and network parameters.

4. Scann for new Profinet devices, or use already prepared `xti` files and use `Add Existing`. This files are localized in `.\src\TcoAbbRobotics\src\TcoAbbRoboticsConnector\ddf\`. `Robot1.xti` is valid for Irc5 and `Robot2.xti` for `Omnicore`

5. Connect your Gvl structures with hardware. Refers to bechokff documentation if there are some issues, or for guidance how to mapping.

6. Create the Function Block that extends the `TcoCore.TcoContext` function block.

7. Inside the declaration part of the function block created, add an instance of the `TcoAbbRobotics.TcoIrc5_v_1_x_x` or `TcoAbbRobotics.TcoOmnicore_v_1_x_x`. Add the `Main` method into this function block and insert the instances. Call with passing the mapped hardware structure

8. Here instances are called with passing the mapped hardware structure. By calling method `Service()` , all control elements of this component are accessible later in the visualization. By calling method `Service` is allowed control elements(components) via visualisation (service/ manual mode)

9. In the declaration part of the `MAIN(PRG)` create an instance of the function block created in the step 7 according to the example.

10. Into the body of the `MAIN(PRG)` add the call of the `Run()` method of the instance created in the previous step, according to the example.

14. Build and save the XAE project.

15. Activate configuration, load the PLC program and swith the PLC into the run mode.

.NET enviroment

Preconditions: All neccessary packages are installed, all neccessary references are set, connector to the target PLC is set.

Implementation steps.

1. Run the `Vortex Builder`.

2. Into the `MainWindow.xaml` define `DataContext` to the `MAIN` of the `TcoAbbRoboticsTestsPlc`.

3. Into the container added, insert the `RenderableContentControl` and bind its `DataContext` to the `_robot1 : TcoAbbRobotics.TcoIrc5_v_1_x_x(THIS^)` or `_robot2 : TcoAbbRobotics.TcoOmnicore_v_1_x_x(THIS^)`, using the `PresentationType` of the value `Service`.

Plc Example usage in sequencer

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parent directory

README.md

TcoAbbRobotics

Introduction

General TcOpen Prerequisites

TcoAbbRobotics

PLC enviroment

Preconditions: The robot software is part of repository. Use RobotStudio to open project. And transfer it to robot.

Implementation steps.

1. Declare the hardware structures in the Global Variable list (GVL).

2. Build the XAE project.

3. Add Profinet master device, set its network adapter and network parameters.

4. Scann for new Profinet devices, or use already prepared xti files and use Add Existing. This files are localized in .\src\TcoAbbRobotics\src\TcoAbbRoboticsConnector\ddf\. Robot1.xti is valid for Irc5 and Robot2.xti for Omnicore

5. Connect your Gvl structures with hardware. Refers to bechokff documentation if there are some issues, or for guidance how to mapping.

6. Create the Function Block that extends the TcoCore.TcoContext function block.

7. Inside the declaration part of the function block created, add an instance of the TcoAbbRobotics.TcoIrc5_v_1_x_x or TcoAbbRobotics.TcoOmnicore_v_1_x_x. Add the Main method into this function block and insert the instances. Call with passing the mapped hardware structure

8. Here instances are called with passing the mapped hardware structure. By calling method Service() , all control elements of this component are accessible later in the visualization. By calling method Service is allowed control elements(components) via visualisation (service/ manual mode)

9. In the declaration part of the MAIN(PRG) create an instance of the function block created in the step 7 according to the example.

10. Into the body of the MAIN(PRG) add the call of the Run() method of the instance created in the previous step, according to the example.

14. Build and save the XAE project.

15. Activate configuration, load the PLC program and swith the PLC into the run mode.

.NET enviroment

Preconditions: All neccessary packages are installed, all neccessary references are set, connector to the target PLC is set.

Implementation steps.

1. Run the Vortex Builder.

2. Into the MainWindow.xaml define DataContext to the MAIN of the TcoAbbRoboticsTestsPlc.

3. Into the container added, insert the RenderableContentControl and bind its DataContext to the _robot1 : TcoAbbRobotics.TcoIrc5_v_1_x_x(THIS^) or _robot2 : TcoAbbRobotics.TcoOmnicore_v_1_x_x(THIS^), using the PresentationType of the value Service.

Plc Example usage in sequencer

4. Scann for new Profinet devices, or use already prepared `xti` files and use `Add Existing`. This files are localized in `.\src\TcoAbbRobotics\src\TcoAbbRoboticsConnector\ddf\`. `Robot1.xti` is valid for Irc5 and `Robot2.xti` for `Omnicore`

6. Create the Function Block that extends the `TcoCore.TcoContext` function block.

7. Inside the declaration part of the function block created, add an instance of the `TcoAbbRobotics.TcoIrc5_v_1_x_x` or `TcoAbbRobotics.TcoOmnicore_v_1_x_x`. Add the `Main` method into this function block and insert the instances. Call with passing the mapped hardware structure

8. Here instances are called with passing the mapped hardware structure. By calling method `Service()` , all control elements of this component are accessible later in the visualization. By calling method `Service` is allowed control elements(components) via visualisation (service/ manual mode)

9. In the declaration part of the `MAIN(PRG)` create an instance of the function block created in the step 7 according to the example.

10. Into the body of the `MAIN(PRG)` add the call of the `Run()` method of the instance created in the previous step, according to the example.

1. Run the `Vortex Builder`.

2. Into the `MainWindow.xaml` define `DataContext` to the `MAIN` of the `TcoAbbRoboticsTestsPlc`.

3. Into the container added, insert the `RenderableContentControl` and bind its `DataContext` to the `_robot1 : TcoAbbRobotics.TcoIrc5_v_1_x_x(THIS^)` or `_robot2 : TcoAbbRobotics.TcoOmnicore_v_1_x_x(THIS^)`, using the `PresentationType` of the value `Service`.