TcOpen.TcoRexrothPressConnector 0.11.0-alpha.73

TcoRexrothPress

Introduction

The TcoRexrothPress is a set of libraries covering the product portfolio of the pressing systems from the vendor Rexroth 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. This package currently covers Smart Function Kit firmware v4.x.x.

General TcOpen Prerequisites

Check general requisits for TcOpen here.

TcoSmartFunctionKit_v_4_x_x

• PLC enviroment

Preconditions:

The gsdml file(s) included in this package is(are) copied into the subfolder ..\Config\Io\EtherCAT\ of the TwinCAT3 instalation folder, before opening Visual Studio. It is possible use alredy predefined device stored in Press (IndraDrive MPC20 (1 CCD Master +0 CCD Slaves)).xti file (Here is predefined whole structure for SOE comunication). Boot files are stored in TcOpen\src\TcoRexrothPress\src\TcoRexrothPressConnector\ddf\

Note:

Configuration and comisionig of SFK(Smart Function Kit) is possible provide via built in webserver. [SFK Webserver] (https://192.168.0.1/#/dashboard) provided by Rexroth. Ip address might be different!

Here you can find all documenatation such as required structure on bus, available command ....

• Implementation steps

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

        VAR_GLOBAL
            {attribute addProperty Name "Press IO"}
            RexrothPress:TcoSmartFunctionKitIO_v_4_x_x;
            {attribute addProperty Name "AdsAddr"}
            AdsAddr AT %I* : TcoAmsAddr;
            {attribute addProperty Name "State"}
            State AT %I* : UINT;
        END_VAR

2. Build the XAE project

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

4. Using the gsdml file mentioned, add Ethercat slave device, then rescan devices on Ecat bus and use cofiguration described in rexroth documentiation. You can also use predefined template in xti file and add it into topology directly

7. Link all items of the structure GVL_xLinker.RexrothPress. You can also link ads information for Ecat diagnostic purposes such as the items AdsAddr and State. If AdsAddr is empty you diagnostic is irelevant

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

9. Inside the declaration part of the function block created, add an instance of the TcoRexrothPress.TcoSmartFunctionKit_v_4_x_x function block with the initialization according to the example

FUNCTION_BLOCK myVeryFirstTcoContext EXTENDS TcoCore.TcoContext
VAR
        {attribute addProperty Name "<#My very first SFK#>"}
        sfk : TcoRexrothPress.TcoSmartFunctionKit_v_4_x_x (THIS^);
END_VAR

10. Add the Main method to the function block created in the step 8, and insert the TcoRexrothPress.TcoSmartFunctionKit_v_4_x_x instance call with passing the mapped hardware structure

11. Add call of the method Service() according to the example. By calling this method, all control elements of this component are accessible later in the visualization

    sfk.Config.ErrorTime:=T#20S;
    sfk.Config.InfoTime:=T#10S;
    sfk.Config.CurveExportLocation:='d:\expot\'; // if empty export not performed
    sfk.Config.IpAddress:='192.168.0.1';   // for rest comunication

    adsInfo.netId:=GVL_iXlinker.AdsAddr.netId;  //ads info from eCAT bus
    adsInfo.port:=GVL_iXlinker.AdsAddr.port;
    sfk(inoIoData:=GVL_iXlinker.RexrothPress,AdsAddr:=adsInfo);

    sfk.Service();

12. In the declaration part of the MAIN(PRG) create an instance of the function block created in the step 8 according to the example

PROGRAM MAIN
VAR
    myVeryFirstTcoContextInstance : myVeryFirstTcoContext;
END_VAR

13. 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

myVeryFirstTcoContextInstance.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. MainWindow.xaml has its view model declared and its DataContext is set to this view model, according to the example

<Window.DataContext>
    <local:MainWindowViewModel />
</Window.DataContext>

• Implementation steps

1. Run the Vortex Builder

2. Into the MainWindow.xaml insert any kind of container, for example StackPanel and bind its DataContext to the MAIN of the EntryPointToYourPlc

    <StackPanel DataContext="{Binding TcoRexrothPressTestPlc.MAIN}">
    </StackPanel>

3. Into the container added, insert the RenderableContentControl and bind its DataContext to the myVeryFirstTcoContextInstance.myVeryFirstDataman, using the PresentationType of the value Service

<vortex:RenderableContentControl DataContext="{Binding myVeryFirstTcoContextInstance.sfk}" PresentationType="Service"/>

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

• Collapsed view

• Expanded (detailed info) view

• Has error view

  When you click on Health indicator ,diaagnostic information is shown.

• Error information view

• Avawilable commands list view

All available commands and properiate parameters (are shown/ hide automaticaly) reflecting command in sfk documentation

• Tasks

  • Run Command - by invoking this task,command defined in combobox will be fired. All commands and their functions are described in sfk documentation (picture below, possible download pdf file)

  • GetResult Command - this command provide last results via REST api.

  ---

  Note:

  There is neccessary to define a specific IP address.

  ---

  • Save last Curve Command - this remote tas provide us last curve results and measures da via REST api. All this data are exported to defined location and organize into directories splitted by yyyyMMdd. File format is json. Name of this exported file is in format SERIALNUMBER_CURVEID_yyyyMMddHHmmss.json

 "id": "6436811dbba56b04d1ec0e0e",
    "program": {
        "id": "6253ed04257f8404d30c2f33",
        "fieldbusId": 4,
        "name": "Pokus1",
        "driveId": "6253ed040c2f33",
        "functions": [
            {
                "parameters": [
                    {
                        "type": "INPUT",
                        "name": "velocity",
                        "value": 50
                    },
                    {
                        "type": "INPUT",
                        "name": "acceleration",
                        "value": 2.4
                    },
                    {
                        "type": "FAILURE",
                        "name": "overload"
                    },
                    {
                        "type": "SUCCESS",
                        "name": "position",
                        "value": 0
                    }
                ],
                "name": "initialPosition",
                "trendingEnabled": true,
                "visible": true,
                "position": 1
            },
            
           
            //some data are skiped due size!!! 



    "maxForce": 36.7,
    "maxPosition": 47.49,
    "valid": true,
    "validations": [],
    "createdDate":new Date(1681293597526),
    "cycleTime": 6.98,
    "validationTime": 55,
    "status": "FINISHED",
    "customId": "AMC HJSGHdhkghgjflv",
    "variableValues": [],
    "dataRecordingDisabled": false,
    "samplingInterval": 4,
    "offset": {
        "x": 0,
        "y": 0
    },
    "_id": "6436811dbba56b04d1ec0e0e",
    "__v": 1
}

• Example in sequence

IF (Step(1000, TRUE, 'SFK RESTORE')) THEN
    //-------------------------------------    
		THIS^.ParentSequence.Station.Components.Sfk.Restore();
		StepCompleteWhen(TRUE);	
    //-------------------------------------
END_IF

done:=false;
IF (Step(2000, TRUE, 'SFK STOP MOVEMENT')) THEN
    //-------------------------------------
		THIS^.ParentSequence.Station.Components.Sfk.Request.Command:=eTcoSmartFunctionKitCommand.StopMovement; 
		done:=THIS^.ParentSequence.Station.Components.Sfk.RunCommand().Done;
		
		StepCompleteWhen(done);	
		IF done THEN
			THIS^.ParentSequence.Station.Components.Sfk.Restore();
		END_IF
    //-------------------------------------
END_IF

IF (Step(3000, TRUE, 'SFK RESET')) THEN
    //-------------------------------------
		THIS^.ParentSequence.Station.Components.Sfk.Request.Command:=eTcoSmartFunctionKitCommand.ClearError; 
		done:=THIS^.ParentSequence.Station.Components.Sfk.RunCommand().Done ;	
		StepCompleteWhen(done);	
		IF done THEN
			THIS^.ParentSequence.Station.Components.Sfk.Restore();
		END_IF
    //-------------------------------------
END_IF
IF (Step(4000, TRUE, 'SFK HOME')) THEN
    //-------------------------------------
		THIS^.ParentSequence.Station.Components.Sfk.Request.Command:=eTcoSmartFunctionKitCommand.StartHoming; 
		done := THIS^.ParentSequence.Station.Components.Sfk.RunCommand().Done ;	
		
		StepCompleteWhen(done);	
		
		IF done THEN
			THIS^.ParentSequence.Station.Components.Sfk.Restore();
		END_IF
    //-------------------------------------
END_IF

IF (Step(5000, TRUE, 'SFK SET PROGRAM')) THEN
    //-------------------------------------
		THIS^.ParentSequence.Station.Components.Sfk.Request.Command:=eTcoSmartFunctionKitCommand.SetProgramActive;
		THIS^.ParentSequence.Station.Components.Sfk.Request.ProgramId:=4;
 
		done:=THIS^.ParentSequence.Station.Components.Sfk.RunCommand().Done ;	
		
		StepCompleteWhen(done);	
		IF done THEN
			THIS^.ParentSequence.Station.Components.Sfk.Restore();
		END_IF
    //-------------------------------------
END_IF
IF (Step(6000, TRUE, 'SFK START PROGRAM')) THEN
    //-------------------------------------
		THIS^.ParentSequence.Station.Components.Sfk.Request.Command:=eTcoSmartFunctionKitCommand.StartProgram;
		_counterData:=_counterData+1;
		fillChar:='00000000000';
		
	
		_counterDataString:=DINT_TO_STRING(_counterData);
		THIS^.ParentSequence.Station.Components.Sfk.Request.SerialNumber:=Tc2_Standard.MID(STR:=fillChar , LEN:=11- Tc2_Standard.LEN(_counterDataString), POS:=1 );
 
		done:=THIS^.ParentSequence.Station.Components.Sfk.RunCommand().Done ;	
		StepCompleteWhen(done);	
		IF done THEN
			THIS^.ParentSequence.Station.Components.Sfk.Restore();
		END_IF
    //-------------------------------------
END_IF


IF (Step(7000, TRUE, 'EXPORT CURVE')) THEN
    //-------------------------------------

		StepCompleteWhen(THIS^.ParentSequence.Station.Components.Sfk.ExportLastCurve().Done );	
    //-------------------------------------
END_IF

IF (Step(10000, TRUE, 'PARALELL TASK DONE')) THEN
    //-------------------------------------
    _task.DoneWhen(TRUE );
    //-------------------------------------	
END_IF