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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.