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TomKovac merged 4 commits into from
May 27, 2025
Merged

abb omnicore discover bytes order for real values #682

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a2911c4
Create draft PR for #681
TomKovac May 26, 2025
5590f82
wip
May 26, 2025
7ff0596
Components abb robotics fixed conversion of real values sent and rece…
May 27, 2025
528b48e
blacklist_whitelist
May 27, 2025
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21 changes: 21 additions & 0 deletions COMPONENTS_BLACKLIST.md
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# COMPONENTS BLACKLIST

**LIST OF COMPONENTS THAT MUST NOT BE USED**

| **SUPPLIER** | **TYPE** | **DESCRIPTION** | **REASON** | **ALTERNATIVE** |
|--------------|----------|-----------------|------------|------------------|
| Siemens | PLC series 12xx, 1510 to 1515 | PLC | Cannot use our sequencer, our components, or technology objects for Siemens frequency converters. Small memory, only one network card. | Siemens 1516, 1517, 1518 V4.0+ |
| Siemens | PLC with firmware lower then 4.0 | PLC | Not suitable for high communication load | Siemens 1516, 1517, 1518 V4.0+ |
| ANY | IOlink device | IOlink master or slave | No support for IOlink in Simatic AX | Siemens ET200AL boxes DI/AI boxes |
| Siemens | any old HMI Panels except Unified with firmware 20.2+ | HMI Panel | Has to be capable to open browser that supports .NET8, I guess | Unified with firmware 20.2+ at least 20inch at least 1920*1080 resolution |
| Festo with Siemens PLC | Pneumatic manifolds with EtherCAT | Pneumatic manifolds with EtherCAT | Siemens does not support EtherCAT bus | Festo manifolds with PROFINET |
| Aventics with Siemens PLC | Pneumatic manifolds with EtherCAT | Pneumatic manifolds with EtherCAT | Siemens does not support EtherCAT bus | Aventics manifolds with PROFINET |
| Cognex | Insight with firmware lower then 24.0.0 | Insight family | Communication structure does not fit the somponent structure | Insight with firmware higher then 24.0.0 or Keyence :-) |
| ANY | GW INSTEK - PSP-2010 | LABORATORY POWER SUPPLY | UNRELIABLE COMMUNICATION. REQUIRES ADDITIONAL 12V SUPPLY TO USE RS232 INTERFACE | TTi QL355 |
| ANY | WD My Cloud EX2 | Network Drive, NAS | Cannot schedule shutdown via UPS | Synology DiskStation DS216j 2x 1 TB RED |
| IAI | ALL | (!) Intelligent Actuators | Each type is different, very poor support, each has different parameterization, inconsistent software for control, inconsistent connection cables, inconsistent parameters... | Rexroth, Festo, Schneider |
| ANY | Fujitsu | Network Drive, NAS | Slow service startup, ping issues after standby and startup. Could not be pinged after link activation | Synology DiskStation DS218+, 2x HDD |
| Ateq | Ateq with RS232 | Leak Tester | Our component is not adapted for it(1), requires additional serial card | Ateq with PROFINET, or Ateq without results (OK/NOK only) |
||

(1) Development would take up our precious time, hence it is inefficient for us.
24 changes: 24 additions & 0 deletions COMPONENTS_WHITELIST.md
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# COMPONENTS WHITELIST

**List of components that could be used.**

| **SUPPLIER** | **TYPE** | **DESCRIPTION** | **REASON** | **NOTE** |
|--------------|----------|------------------|------------|----------|
| Siemens | PLC series 1516 to 1518 with FW4.0 and higher, excluding failsafe | PLC | | |
| Siemens | ET200SP excluding IOLINK | IO | | |
| Siemens | ET200AL excluding IOLINK | IO | | |
| ABB | IRB series robots with Omnicore controller | 6 axis robots | | |
| ABB | IRB series robots with IRC5 controller | 6 axis robots | | Already written, not yet tested with real hardware |
| Cognex | Dataman series with FW6.0 | Barcode scanner | | |
| Cognex | Insight series with FW24.0 | Camera | | |
| Cognex | Insight series with FW6.0 | Camera | | Already written, not yet tested with real hardware |
| Desoutter | CVIC_II | Tightening system | | Already written, not yet tested with real hardware |
| Festo | CmmtAs | Servodrive | | Torque mode not yet tested with real hardware |
| Keyence | SR750, SR1000 | Barcode scanner | | Already written, not yet tested with real hardware |
| KUKA | Robots with Krc4 controller with FW5.0 | 6 axis robots | | Already written, not yet tested with real hardware |
| Mitsubishi | Robots with Cr800 controller with FW1.0 | 6 axis robots | | Already written, not yet tested with real hardware |
| Rexroth | Indradrive | Servodrive | | Already written, not yet tested with real hardware |
| Rexroth | SmartFunctionKit | Servopress | | Already written, not yet tested with real hardware |
| Rexroth | CS351 | Tightening system | | |
| UR | Robots with Cb3 controller with FW3.0 | 6 axis robots | | Already written, not yet tested with real hardware |
| Synology | Synology DiskStation DS216j 2x 1 TB RED | Network drive, NAS | Wide range of settings (UPS, protocols, etc.) | |
228 changes: 107 additions & 121 deletions src/components.abb.robotics/ctrl/src/AxoIrc5_v_1_x_x.st
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Expand Up @@ -125,24 +125,6 @@ NAMESPACE AXOpen.Components.Abb.Robotics
HardwareDiagnosticsTask : AXOpen.Io.AxoHardwareDiagnostics;
END_VAR

// // Temporary workaround due to hwc station number issue
// {attribute 'obsolete' := 'This method is(will be) deprecated after releasing hwc3.1.0. Use Run(parent,hwID) instead.'}
// METHOD PUBLIC Run
// VAR_INPUT
// parent : IAxoObject;
// hwID : WORD;
// hwIdDI_64_bytes : WORD; // Hardware Id of the input data of the robot
// hwIdDO_64_bytes : WORD; // Hardware Id of the output data of the robot
// END_VAR
// // _hwID := hwID;
// _hwIdDI_64_bytes := hwIdDI_64_bytes;
// _hwIdDO_64_bytes := hwIdDO_64_bytes;

// _initHwCheckDone := TRUE;
// THIS.Run(parent,hwID);
// END_METHOD


///<summary>
/// Runs tasks and logic of this component.
/// >[!IMPORTANT] This method must or one of its overloads be called cyclically.
Expand Down Expand Up @@ -366,58 +348,58 @@ NAMESPACE AXOpen.Components.Abb.Robotics
Inputs.WorkobjectNo := _data[10];
Inputs.PointNo := _data[11];

_dword.%B3 := _data[12];
_dword.%B2 := _data[13];
_dword.%B1 := _data[14];
_dword.%B0 := _data[15];
_dword.%B0 := _data[12];
_dword.%B1 := _data[13];
_dword.%B2 := _data[14];
_dword.%B3 := _data[15];
Inputs.UserSpecSpeed1 := TO_DINT(_dword);

_dword.%B3 := _data[16];
_dword.%B2 := _data[17];
_dword.%B1 := _data[18];
_dword.%B0 := _data[19];
_dword.%B0 := _data[16];
_dword.%B1 := _data[17];
_dword.%B2 := _data[18];
_dword.%B3 := _data[19];
Inputs.UserSpecSpeed2 := TO_DINT(_dword);

_dword.%B3 := _data[20];
_dword.%B2 := _data[21];
_dword.%B1 := _data[22];
_dword.%B0 := _data[23];
Inputs.Coordinates.X:= TO_REAL(_dword)/REAL#10000.0-REAL#10000.0;

_dword.%B3 := _data[24];
_dword.%B2 := _data[25];
_dword.%B1 := _data[26];
_dword.%B0 := _data[27];
Inputs.Coordinates.Y:= TO_REAL(_dword)/REAL#10000.0-REAL#10000.0;

_dword.%B3 := _data[28];
_dword.%B2 := _data[29];
_dword.%B1 := _data[30];
_dword.%B0 := _data[31];
Inputs.Coordinates.Z:= TO_REAL(_dword)/REAL#10000.0-REAL#10000.0;

_dword.%B3 := _data[32];
_dword.%B2 := _data[33];
_dword.%B1 := _data[34];
_dword.%B0 := _data[35];
Inputs.Coordinates.Rx:= TO_REAL(_dword)/REAL#10000.0-REAL#360.0;

_dword.%B3 := _data[36];
_dword.%B2 := _data[37];
_dword.%B1 := _data[39];
_dword.%B0 := _data[39];
Inputs.Coordinates.Ry:= TO_REAL(_dword)/REAL#10000.0-REAL#360.0;

_dword.%B3 := _data[40];
_dword.%B2 := _data[41];
_dword.%B1 := _data[42];
_dword.%B0 := _data[43];
Inputs.Coordinates.Rz:= TO_REAL(_dword)/REAL#10000.0-REAL#360.0;

_dword.%B3 := _data[44];
_dword.%B2 := _data[45];
_dword.%B1 := _data[46];
_dword.%B0 := _data[47];
_dword.%B0 := _data[20];
_dword.%B1 := _data[21];
_dword.%B2 := _data[22];
_dword.%B3 := _data[23];
Inputs.Coordinates.X:= TO_REAL(TO_DINT(_dword))/REAL#10000.0-REAL#10000.0;

_dword.%B0 := _data[24];
_dword.%B1 := _data[25];
_dword.%B2 := _data[26];
_dword.%B3 := _data[27];
Inputs.Coordinates.Y:= TO_REAL(TO_DINT(_dword))/REAL#10000.0-REAL#10000.0;

_dword.%B0 := _data[28];
_dword.%B1 := _data[29];
_dword.%B2 := _data[30];
_dword.%B3 := _data[31];
Inputs.Coordinates.Z:= TO_REAL(TO_DINT(_dword))/REAL#10000.0-REAL#10000.0;

_dword.%B0 := _data[32];
_dword.%B1 := _data[33];
_dword.%B2 := _data[34];
_dword.%B3 := _data[35];
Inputs.Coordinates.Rx:= TO_REAL(TO_DINT(_dword))/REAL#10000.0-REAL#360.0;

_dword.%B0 := _data[36];
_dword.%B1 := _data[37];
_dword.%B2 := _data[38];
_dword.%B3 := _data[39];
Inputs.Coordinates.Ry:= TO_REAL(TO_DINT(_dword))/REAL#10000.0-REAL#360.0;

_dword.%B0 := _data[40];
_dword.%B1 := _data[41];
_dword.%B2 := _data[42];
_dword.%B3 := _data[43];
Inputs.Coordinates.Rz:= TO_REAL(TO_DINT(_dword))/REAL#10000.0-REAL#360.0;

_dword.%B0 := _data[44];
_dword.%B1 := _data[45];
_dword.%B2 := _data[46];
_dword.%B3 := _data[47];
Inputs.EventId := TO_UDINT(_dword);
//*******************************************
_context := THIS.GetContext();
Expand Down Expand Up @@ -857,7 +839,9 @@ NAMESPACE AXOpen.Components.Abb.Robotics
TaskMessenger.Activate(UINT#534, eAxoMessageCategory#Warning);
Status.Error.Id := UINT#534;
END_IF;

IF Status.CurrentMovementParameters.GlobalSpeed > BYTE#0 THEN
_errorTime := Config.ErrorTime * 100.0/TO_REAL(TO_INT(Status.CurrentMovementParameters.GlobalSpeed));
END_IF;
Outputs.ActionNo := Status.CurrentMovementParameters.ActionNo;

IF Outputs.ActionNo = Inputs.ActionNo THEN
Expand Down Expand Up @@ -891,11 +875,11 @@ NAMESPACE AXOpen.Components.Abb.Robotics
Status.Action.Id := UINT#121;
Status.Error.Id := UINT#0;
ELSIF StartMotorsProgramAndMovementsTask.ErrorOccured() THEN
Status.Action.Id := UINT#920;
Status.Error.Id := UINT#920;
Status.Action.Id := UINT#10020;
Status.Error.Id := UINT#10020;
ELSIF StartMotorsProgramAndMovementsTask.AbortTriggered() THEN
Status.Action.Id := UINT#921;
Status.Error.Id := UINT#921;
Status.Action.Id := UINT#10021;
Status.Error.Id := UINT#10021;
END_IF;
Messenger.ActivateOnCondition(ULINT#10020,StartMotorsProgramAndMovementsTask.HasError(), eAxoMessageCategory#Error);
Messenger.ActivateOnCondition(ULINT#10021,StartMotorsProgramAndMovementsTask.IsAborted(), eAxoMessageCategory#Error);
Expand Down Expand Up @@ -1165,16 +1149,18 @@ NAMESPACE AXOpen.Components.Abb.Robotics
TaskMessenger.Activate(UINT#561, eAxoMessageCategory#Warning);
Status.Error.Id := UINT#561;
END_IF;

IF Status.CurrentMovementParameters.GlobalSpeed > BYTE#0 THEN
_errorTime := Config.ErrorTime * 100.0/TO_REAL(TO_INT(Status.CurrentMovementParameters.GlobalSpeed));
END_IF;
Outputs.ActionNo := Status.CurrentMovementParameters.ActionNo;

IF Outputs.ActionNo = Inputs.ActionNo THEN
THIS.CallTimers(FALSE);
_progress:=662;
_progress:=362;
END_IF;
END_IF;

IF _progress = 662 THEN
IF _progress = 362 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate(UINT#562, eAxoMessageCategory#Warning);
Status.Error.Id := UINT#562;
Expand All @@ -1183,11 +1169,11 @@ NAMESPACE AXOpen.Components.Abb.Robotics
Outputs.ActionNo := BYTE#255;

IF Outputs.ActionNo = Inputs.ActionNo THEN
_progress := 663;
_progress := 363;
END_IF;
END_IF;

IF _progress = 663 THEN
IF _progress = 363 THEN
_progress := 0;
StartMovementsTask.DoneWhen(TRUE);
END_IF;
Expand Down Expand Up @@ -1648,54 +1634,54 @@ NAMESPACE AXOpen.Components.Abb.Robotics
_data[10] := Outputs.WorkobjectNo;
_data[11] := Outputs.PointNo;

_dword := TO_DWORD(Outputs.UserSpecSpeed1);
_data[12] := _dword.%B3;
_data[13] := _dword.%B2;
_data[14] := _dword.%B1;
_data[15] := _dword.%B0;
_dword := TO_DWORD(TO_DINT(Outputs.UserSpecSpeed1));
_data[12] := _dword.%B0;
_data[13] := _dword.%B1;
_data[14] := _dword.%B2;
_data[15] := _dword.%B3;

_dword := TO_DWORD(Outputs.UserSpecSpeed2);
_data[16] := _dword.%B3;
_data[17] := _dword.%B2;
_data[18] := _dword.%B1;
_data[19] := _dword.%B0;
_dword := TO_DWORD(TO_DINT(Outputs.UserSpecSpeed2));
_data[16] := _dword.%B0;
_data[17] := _dword.%B1;
_data[18] := _dword.%B2;
_data[19] := _dword.%B3;

////Coordinates
_dword := TO_DWORD((Outputs.Coordinates.X +REAL#10000.0)*REAL#10000.0);
_data[20] := _dword.%B3;
_data[21] := _dword.%B2;
_data[22] := _dword.%B1;
_data[23] := _dword.%B0;

_dword := TO_DWORD((Outputs.Coordinates.Y +REAL#10000.0)*REAL#10000.0);
_data[24] := _dword.%B3;
_data[25] := _dword.%B2;
_data[26] := _dword.%B1;
_data[27] := _dword.%B0;

_dword := TO_DWORD((Outputs.Coordinates.Z +REAL#10000.0)*REAL#10000.0);
_data[28] := _dword.%B3;
_data[29] := _dword.%B2;
_data[30] := _dword.%B1;
_data[31] := _dword.%B0;

_dword := TO_DWORD((Outputs.Coordinates.Rx +REAL#360.0)*REAL#10000.0);
_data[32] := _dword.%B3;
_data[33] := _dword.%B2;
_data[34] := _dword.%B1;
_data[35] := _dword.%B0;

_dword := TO_DWORD((Outputs.Coordinates.Ry +REAL#360.0)*REAL#10000.0);
_data[36] := _dword.%B3;
_data[37] := _dword.%B2;
_data[38] := _dword.%B1;
_data[39] := _dword.%B0;

_dword := TO_DWORD((Outputs.Coordinates.Rz +REAL#360.0)*REAL#10000.0);
_data[40] := _dword.%B3;
_data[41] := _dword.%B2;
_data[42] := _dword.%B1;
_data[43] := _dword.%B0;
_dword := TO_DWORD(TO_DINT((Outputs.Coordinates.X + REAL#10000.0)*REAL#10000.0));
_data[20] := _dword.%B0;
_data[21] := _dword.%B1;
_data[22] := _dword.%B2;
_data[23] := _dword.%B3;

_dword := TO_DWORD(TO_DINT((Outputs.Coordinates.Y +REAL#10000.0)*REAL#10000.0));
_data[24] := _dword.%B0;
_data[25] := _dword.%B1;
_data[26] := _dword.%B2;
_data[27] := _dword.%B3;

_dword := TO_DWORD(TO_DINT((Outputs.Coordinates.Z +REAL#10000.0)*REAL#10000.0));
_data[28] := _dword.%B0;
_data[29] := _dword.%B1;
_data[30] := _dword.%B2;
_data[31] := _dword.%B3;

_dword := TO_DWORD(TO_DINT((Outputs.Coordinates.Rx +REAL#360.0)*REAL#10000.0));
_data[32] := _dword.%B0;
_data[33] := _dword.%B1;
_data[34] := _dword.%B2;
_data[35] := _dword.%B3;

_dword := TO_DWORD(TO_DINT((Outputs.Coordinates.Ry +REAL#360.0)*REAL#10000.0));
_data[36] := _dword.%B0;
_data[37] := _dword.%B1;
_data[38] := _dword.%B2;
_data[39] := _dword.%B3;

_dword := TO_DWORD(TO_DINT((Outputs.Coordinates.Rz +REAL#360.0)*REAL#10000.0));
_data[40] := _dword.%B0;
_data[41] := _dword.%B1;
_data[42] := _dword.%B2;
_data[43] := _dword.%B3;

_retval := Siemens.Simatic.S71500.DistributedIO.WriteData(_hwIdDO_64_bytes,_data);
IF _retval > WORD#0 THEN
Expand Down
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