Siemens S7-1200: Execute drag&bot programs¶

Use the Siemens S7-1200 PLC to start drag&bot programs without arguments or control them.

In drag&bot Studio¶

Create your program.
Deploy the program on the robot system in the program overview. See here how to deploy a program.

In TIA project¶

The following TIA functions are provided by the drag&bot TIA library with the described parameters. They can be used to communicate with the drag&bot Line Controller component and control drag&bot programs.

d&b_execute_program¶

The d&b_execute_program function starts a drag&bot program which requires no input parameters.

Group	Parameter	Type	Description
Input	Start	Bool	If true, the command is sent to the Line Controller.
	Program_Name	String	The name of the drag&bot program to be executed. It is case sensitive.
Output	Success	Bool	Is true, if the command was sent to the Line Controller.
	Result	Byte	The result of the program execution: 0 = No result received 1 = Success 2 = Canceled 3 = Error
	Program_Started	Bool	Is true, if the program has been started successfully.
InOut	MB_Holding_Register	Array[*] of Word	The linked Holding Register of the Modbus server. The * indicates a variable size.

The d&b_execute_program function block requires the Program_Name and Start inputs to be set that the request is sent to the Line Controller component. In the same cycle the Success output indicates a successful or unsuccessful writing to the respective Modbus register. When the program was started the output Program_Started will be true for one cycle. After the program has been stopped the output Result indicates the program result for one cycle.

To start drag&bot programs, which require arguments, please refer to the chapter here.

d&b_stop_program¶

The d&b_stop_program function stops a running drag&bot program.

Group	Parameter	Type	Description
Input	Start	Bool	If true, the command is sent to the Line Controller.
Output	Success	Bool	Is true, if the command was sent to the Line Controller.
	Result	Byte	The result of the program stop: 0 = No result received 1 = Program stopped 2 = No program running
InOut	MB_Holding_Register	Array[*] of Word	The linked Holding Register of the Modbus server. The * indicates a variable size.

The d&b_stop_program function block requires the Start input to be set that the request is sent to the Line Controller component. In the same cycle the Success output indicates a successful or unsuccessful writing to the respective Modbus register. When a response is received it is indicated at the output Result for one cycle.

d&b_pause_program¶

The d&b_pause_program function pauses a running drag&bot program after finishing the current function block.

Group	Parameter	Type	Description
Input	Start	Bool	If true, the command is sent to the Line Controller.
Output	Success	Bool	Is true, if the command was sent to the Line Controller.
	Result	Byte	The result of the program pause: 0 = No result received 1 = Program was paused 2 = No program running 3 = Program already paused
InOut	MB_Holding_Register	Array[*] of Word	The linked Holding Register of the Modbus server. The * indicates a variable size.

The d&b_pause_program function block requires the Start input to be set that the request is sent to the Line Controller component. In the same cycle the Success output indicates a successful or unsuccessful writing to the respective Modbus register. When a response is received it is indicated at the output Result for one cycle.

d&b_resume_program¶

The d&b_resume_program resumes a running drag&bot program from being paused.

Group	Parameter	Type	Description
Input	Start	Bool	If true, the command is sent to the Line Controller.
Output	Success	Bool	Is true, if the command was sent to the Line Controller.
	Result	Byte	The result of the program resume: 0 = No result received 1 = Program was resumed 2 = No program running 3 = Program already running
InOut	MB_Holding_Register	Array[*] of Word	The linked Holding Register of the Modbus server. The * indicates a variable size.

The d&b_resume_program function block requires the Start input to be set that the request is sent to the Line Controller component. In the same cycle the Success output indicates a successful or unsuccessful writing to the respective Modbus register. When a response is received it is indicated at the output Result for one cycle.