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. Note that the full path of the symbol must be provided, in the form of “RAPID/{TaskName}/{ProgramName}/{SymbolName}”. 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}/{ProgramName}/{SymbolName}”. 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
Made by Loupe