Extending the process data interface by "Additional process data for user program"

INFORMATION

The following example can be imported in the IEC Editor. In the IEC Editor, open the menu [Tools] > [Scripting] > [Scripts] > [R], and select the menu entry [Robotics_Examples.py].

The process data interface can be extended by customer-specific signals, or the existing signals can be manipulated. For this purpose, a function block is required that implements the SEW_IFbusHdl.IFieldbusUserMapping interface and is connected to the robot using the PD_MyRobot.LinkUserMapping(fbUserMapping) method.

For extension, additional process data can be added that is downstream of the process data interface of the software module and can then be described in the function block. To do so, configure the [Additional process data user program] using MOVISUITE® in the configuration of the software module under [Fieldbus interface] > [Basic settings] > [Fieldbus configuration].

To use the imported example [9_FieldbusUserMapping] > [UserMapping], the following additional steps are required:

  1. Create an instance of the function block in the User_PRG program.

PROGRAM User_PRG

VAR

 fbUserMapping: UserMapping;

END_VAR

  1. Insert the following code in the User_PRG.Main action ("MyRoBoT" corresponds to the name of the robot node assigned by the user in MOVISUITE®).

fbUserMapping(rRobotPD:=SEW_GVL_Internal.PD_MyRobot);