FlexiBowl - Usage¶
The FlexiBowl components can be controlled with several function blocks. These function blocks are designed to interact with the configured FlexiBowl independent from the communication mode or version.
Info
Currently only the FlexiBowl Version 1 is supported for a setup with digital I/Os. Other versions or communication modes might follow in the future.
Usage¶
Warning
Only one FlexiBowl can be set up as component and controlled with the function blocks in a robot system at the same time.
To use a FlexiBowl component the following function blocks are provided.
FlexiBowl - Command¶
Executes a FlexiBowl non-movement command.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Command | Select | The non-movement command to execute. Depending on the version not all commands might be available. Available are: RESET_FAULT, SERVO_ON, SERVO_OFF, BACKLIGHT_ON, BACKLIGHT_OFF, FLIP, BLOW |
| Outputs | - | ||
| Exceptions | - | See below. |
FlexiBowl - Start Move¶
Starts a FlexiBowl movement command and returns immediately.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Command | Select | The movement command to start. Depending on the version not all commands might be available. Available are: FORWARD, FORWARD_FLIP, FORWARD_BLOW, FORWARD_FLIP_BLOW, SHAKE, BACKWARD, BACKWARD_FLIP, BACKWARD_BLOW |
| Outputs | - | ||
| Exceptions | - | See below. |
FlexiBowl - Stop Move¶
Stops a currently running FlexiBowl movement.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | - | ||
| Outputs | - | ||
| Exceptions | - | See below. |
FlexiBowl - Timed Move¶
Executes a FlexiBowl movement command for a specified time.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Command | Select | The movement command to start. Depending on the version not all commands might be available. Available are: FORWARD, FORWARD_FLIP, FORWARD_BLOW FORWARD_FLIP_BLOW, SHAKE, BACKWARD, BACKWARD_FLIP, BACKWARD_BLOW |
| Duration | Float | Time in seconds to execute the movement. | |
| Outputs | - | ||
| Exceptions | - | See below. |
FlexiBowl - Is Fault¶
Checks whether the FlexiBowl is in fault state.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | - | ||
| Outputs | Fault | Boolean | True, if the FlexiBowl is in fault state. False otherwise. |
| Exceptions | - | See below. |
FlexiBowl - Is Ready¶
Checks whether the FlexiBowl is in ready state.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | - | ||
| Outputs | Ready | Boolean | True, if the FlexiBowl is in ready state. False otherwise. |
| Exceptions | - | See below. |
FlexiBowl - Is Busy¶
Checks whether the FlexiBowl is in busy state.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | - | ||
| Outputs | Busy | Boolean | True, if the FlexiBowl is in busy state. False otherwise. |
| Exceptions | - | See below. |
Exceptions¶
The function blocks can throw the following exceptions in case an error occurs:
- ERROR_NO_DIGITAL_IO: The defined digital I/O pin is not valid.
- ERROR_NO_DIGITAL_OUTPUT: The defined digital I/O pin is not a digital output.
- ERROR_COMMUNICATION: The communication failed, when communicating with the robot controller to get or set the digital I/Os.
- ERROR_TIMEOUT: The operation took too long to get executed and timed out.
- ERROR_NO_PIN_DEFINED: No pin was defined in the Component Manager for the respective operation.
- ERROR_UNKNOWN_DEVICE: No FlexiBowl was configured in the Component Manager.
- ERROR_UNSUPPORTED_COMMAND: The selected command is not available for this version of the FlexiBowl.