Function Blocks

A3brWebService

Establish the initial connection to the IRC, and handle channeling of all HTTP traffic back and forth. This block handles authenticating with the server, reporting HTTP errors, and invoking other blocks’ success or failure callbacks. It also provides a simple interface for other blocks to push requests to without having to handle the HTTP side of things themselves. This makes the library easy to expand with new function blocks.

Direction	Name	Type	Description
In	enable	BOOL	Initialize the connection to the IRC
In	reset	BOOL	Reset FUB error. Required to resume operation after error has occurred
In	configuration	A3brWebServiceCfg_typ	Connection parameters to IRC
Out	ident	UDINT	a3br connection ident. Used by all other blocks
Out	connected	BOOL	Connection to IRC established, authentication successful, and other blocks can send their commands
Out	error	BOOL	An error has occurred
Out	errorID	UINT	Error ID, refer to A3BR_ERR_enum
Out	errorString	String[80]	Description of error

A3brControl

Send high level commands to the IRC to control robot execution state.

Direction	Name	Type	Description
In	ident	UDINT	a3br connection ident. Provided by A3brWebService
In	power	BOOL	Set the controller state to motoron or motoroff
In	start	BOOL	Start RAPID execution using the specified cycle type
In	stop	BOOL	Stop RAPID execution
In	reset	BOOL	Reset the program pointer (PP) to main
In	requestMasterhip	BOOL	(EXPERIMENTAL) Request Mastership on all IRC domains
In	releaseMasterhip	BOOL	(EXPERIMENTAL) Release Mastership on all IRC domains
In	cycle	A3BR_RAPID_CYCLE_ST_enum	Type of RAPID cycle to use with Start command
Out	busy	BOOL	Command is being executed
Out	done	BOOL	Command is completed
Out	error	BOOL	An error has occurred
Out	errorID	UINT	Error ID, refer to A3BR_ERR_enum
Out	errorString	String[80]	Description of error

A3brSetIO

Write a value to an IO signal on the IRC. This block performs a one-time write operation upon rising edge of execute.

Direction	Name	Type	Description
In	ident	UDINT	a3br connection ident. Provided by A3brWebService
In	execute	BOOL	Initiate a single write operation
In	pSignal	STRING*	Pointer to a STRING containing the name of the IO signal as it appears on the IRC. Target string is required to be of length A3BR_IO_STR_LEN
In	mode	UDINT	Not yet implemented
In	value	INT	The value to write to the IO signal
In	delay	UDINT	Not yet implemented
In	pulses	UDINT	Not yet implemented
In	activePulse	UDINT	Not yet implemented
In	passivePulse	UDINT	Not yet implemented
Out	busy	BOOL	Command is being executed
Out	done	BOOL	Command is completed
Out	error	BOOL	An error has occurred
Out	errorID	UINT	Error ID, refer to A3BR_ERR_enum
Out	errorString	String[80]	Description of error

A3brGetIO

Read the value of an IO signal from the IRC. This block performs a one-time read operation upon rising edge of execute.

Direction	Name	Type	Description
In	ident	UDINT	a3br connection ident. Provided by A3brWebService
In	execute	BOOL	Initiate a single read operation
In	pSignal	STRING*	Pointer to a STRING containing the name of the IO signal as it appears on the IRC. Target string is required to be of length A3BR_IO_STR_LEN
Out	value	INT	The value of the IO signal that was read from the IRC
Out	busy	BOOL	Command is being executed
Out	done	BOOL	Command is completed
Out	error	BOOL	An error has occurred
Out	errorID	UINT	Error ID, refer to A3BR_ERR_enum
Out	errorString	String[80]	Description of error

A3brSetSymbol

Write a value to a RAPID data symbol on the IRC. This block performs a one-time write operation upon rising edge of execute.

Direction	Name	Type	Description
In	ident	UDINT	a3br connection ident. Provided by A3brWebService
In	execute	BOOL	Initiate a single write operation
In	pSignal	STRING*	Pointer to a STRING containing the name of the RAPID data symbol as it appears on the IRC in the RAPID watch window. Note that the full path of the symbol must be provided, in the form of “RAPID/{TaskName}/{ModuleName}/{SymbolName}”. This representation can be found in the RAPID watch window’s Source column for a given symbol. Target string is required to be of length A3BR_SYMBOL_STR_LEN
In	pValue	UDINT	Pointer to the value to be written to the RAPID data symbol
In	szValue	UDINT	Size of the datatype to be written to the RAPID data symbol
In	typeValue	A3BR_VAR_TYPE_enum	Type of the value to be written to the RAPID data symbol
In	mode	UDINT	Not yet implemented
In	delay	UDINT	Not yet implemented
In	pulses	UDINT	Not yet implemented
In	activePulse	UDINT	Not yet implemented
In	passivePulse	UDINT	Not yet implemented
Out	busy	BOOL	Command is being executed
Out	done	BOOL	Command is completed
Out	error	BOOL	An error has occurred
Out	errorID	UINT	Error ID, refer to A3BR_ERR_enum
Out	errorString	String[80]	Description of error

A3brGetSymbol

Read the value of a RAPID data symbol from the IRC. This block performs a one-time read operation upon rising edge of execute.

Direction	Name	Type	Description
In	ident	UDINT	a3br connection ident. Provided by A3brWebService
In	execute	BOOL	Initiate a single read operation
In	pSignal	STRING*	Pointer to a STRING containing the name of the RAPID data symbol as it appears on the IRC. Note that the full path of the symbol must be provided, in the form of “RAPID/{TaskName}/{ModuleName}/{SymbolName}”. This representation can be found in the RAPID watch window’s Source column for a given symbol. Target string is required to be of length A3BR_SYMBOL_STR_LEN
In	pValue	UDINT	Pointer to the value to be read from the RAPID data symbol
In	szValue	UDINT	Size of the datatype to be read from the RAPID data symbol
In	typeValue	A3BR_VAR_TYPE_enum	Type of the value to be read from the RAPID data symbol
Out	busy	BOOL	Command is being executed
Out	done	BOOL	Command is completed
Out	error	BOOL	An error has occurred
Out	errorID	UINT	Error ID, refer to A3BR_ERR_enum
Out	errorString	String[80]	Description of error

A3brGetState

Read high level state information from the IRC. This includes the RAPID execution state, the RAPID cycle state, the control state, and the operational mode. All of these are read by this block upon rising edge of execute.

Direction	Name	Type	Description
In	ident	UDINT	a3br connection ident. Provided by A3brWebService
In	execute	BOOL	Initiate a read of all IRC state information
Out	rapidExecutionState	A3BR_RAPID_EXEC_ST_enum	Read out of current RAPID execution state
Out	rapidCycleState	A3BR_RAPID_CYCLE_ST_enum	Read out of current RAPID cycle state
Out	controlState	A3BR_CTRL_ST_enum	Read out of current control state
Out	operationalMode	A3BR_OP_MODE_enum	Read out of current operation mode
Out	busy	BOOL	Command is being executed
Out	done	BOOL	Command is completed
Out	error	BOOL	An error has occurred
Out	errorID	UINT	Error ID, refer to A3BR_ERR_enum
Out	errorString	String[80]	Description of error

A3brIOWatch

Set up cyclic read/write watch for a list of IO signals on the IRC. The block will cyclically read the value of each configured IO signal as long as the enable is TRUE, and will also acyclically perform IO signal writes when the value on the PLC changes.

Direction	Name	Type	Description
In	enable	BOOL	Activate cyclic read/write functionality
In	ident	UDINT	a3br connection ident. Provided by A3brWebService
In	pSignals	STRING*[]	Pointer to an array of STRINGS containing the names of the IO signals. Each STRING is required to be of length A3BR_IO_STR_LEN
In	pValues	INT*	Pointer to an array containing the values of the targeted IO signals. These provide read/write access to the user
In	numSignals	USINT	The total number of signals
In	maxCycleReads	USINT	(Optional) Limit the number of signals that are read in one cycle. If this is zero then numSignals are read each cycle
In	refresh	TIME	Time between consecutive read series. Each time this time elapses the block attempts to read all configured IO signals once
Out	busy	BOOL	Command is being executed
Out	done	BOOL	Command is completed
Out	error	BOOL	An error has occurred
Out	errorID	UINT	Error ID, refer to A3BR_ERR_enum
Out	errorString	String[80]	Description of error

A3brProgramControl

(EXPERIMENTAL) Load RAPID programs and modules from the PLC into the IRC.

Direction	Name	Type	Description
In	ident	UDINT	a3br connection ident. Provided by A3brWebService
In	loadProgram	BOOL	Load the RAPID string referenced by pData as a program into the specified task. Note that this will overwrite the existing program in that task
In	loadModule	BOOL	Load the RAPID string referenced by pData as a module into the specified program. Note that this will overwrite existing modules with the same name, but will not overwrite the existing program or other modules in it
In	pProgramName	UDINT	Pointer to a STRING containing the name of the target program on the IRC
In	pModuleName	UDINT	Pointer to a STRING containing the name of the target module on the IRC
In	pTaskName	UDINT	Pointer to a STRING containing the name of the target task on the IRC
In	pData	UDINT	Pointer to a STRING containing the RAPID code to be loaded
In	szData	UDINT	Size of the RAPID code to be loaded (i.e. length of the string)
Out	busy	BOOL	Command is being executed
Out	done	BOOL	Command is completed
Out	error	BOOL	An error has occurred
Out	errorID	UINT	Error ID, refer to A3BR_ERR_enum
Out	errorString	String[80]	Description of error