Siemens S7-1200: Use additional functions¶

Use the Siemens S7-1200 PLC to receive additional information from the robot system.

The following TIA function blocks 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 request further information about deployed drag&bot programs and the drag&bot system.

d&b_request_system_status¶

The d&b_request_system_status function requests the program status.

Group	Parameter	Type	Description
Input	Send_Request	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.
	Status	Byte	Received status of the drag&bot system: 0 = No status received 1 = Program stopped 2 = Program running 3 = Program paused
InOut	MB_Holding_Register	Array[*] of Word	The linked Holding Register of the Modbus server. The * indicates a variable size.

The d&b_request_system_status function requires the Send_Request input to be set that the request is sent to the LineController 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 Status for one cycle. If it is necessary to keep the value for more than one cycle the flank has to be saved in a register.

d&b_request_system_status_cyclic¶

The d&b_request_system_status_cyclic function requests the program status cyclically.

Group	Parameter	Type	Description
Input	Cycle_Time	Time	The time interval between requests.
Output	Success	Bool	Is true, if the command was sent to the Line Controller.
	Status	Byte	Received status of the drag&bot system: 0 = No status received 1 = Program stopped 2 = Program running 3 = Program paused
InOut	MB_Holding_Register	Array[*] of Word	The linked Holding Register of the Modbus server. The * indicates a variable size.

The d&b_request_system_status_cyclic function block automatically sends each Cycle_Time a request 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 Status for one cycle. If it is necessary to keep the value for more than one cycle the flank has to be saved in a register.

d&b_request_program_names¶

The d&b_request_program_names function requests names of deployed programs on the drag&bot robot system.

Group	Parameter	Type	Description
Input	Send_Request	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.
	Finished	Bool	Is true, if the program list was received from the robot system.
InOut	MB_Holding_Register	Array[*] of Word	The linked Holding Register of the Modbus server. The * indicates a variable size.
	Program_List	Array[*] of String	Array to save the received program names. The size of this array defines the maximum number of sent program names.

The d&b_request_program_names function requires the Send_Request input to be set that the request is sent to the LineController 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 Finished for one cycle. The received program names are saved in the Program_List string array.