# 04- Introducing ctrlX CORE IDE App ## 🎥 Introducing ctrlX CORE IDE App In this video, you will see how we can **run Python scripts in ctrlX CORE** and **trigger the scripts using Node-RED and PLC Engineering** {% embed url="" %} ## 📗 Resource files used in the video ### 📃 Python scripts {% code title="Example1.py" lineNumbers="true" %} ```python import functools import sys #flush all prints print = functools.partial(print, flush=True) #For loop for x in range(2): print(x) sys.exit(0) ``` {% endcode %} {% code title="Example2.py" lineNumbers="true" %} ```python #Reading from ctrlX Data Layer Channel1 = datalayer.read("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/input/data/XI110116/Channel_1.Value") #Writing to ctrlX Data Layer datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_1.Value", Channel1) sys.exit(0)python ``` {% endcode %} {% code title="Example3.py" lineNumbers="true" %} ```python import time import sys while True: #Reading Channel 1 status from ctrlX Data Layer Channel1 = datalayer.read("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/input/data/XI110116/Channel_1.Value") #Reading Channel 3 status from ctrlX Data Layer Channel3 = datalayer.read("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/input/data/XI110116/Channel_3.Value") #blinking loop if Channel1 is True: datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_1.Value", True) time.sleep(1) #delay of 1s datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_2.Value", True) time.sleep(1) datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_3.Value", True) time.sleep(1) datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_3.Value", False) time.sleep(1) datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_2.Value", False) time.sleep(1) datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_1.Value", False) time.sleep(1) else: datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_1.Value", False) datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_2.Value", False) datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_3.Value", False) if Channel3 is True: datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_1.Value", False) datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_2.Value", False) datalayer.write("fieldbuses/ethercat/master/instances/ethercatmaster/realtime_data/output/data/XI211116/Channel_3.Value", False) sys.exit(0) ``` {% endcode %} {% code title="Example4PLC" overflow="wrap" lineNumbers="true" %} ```python import sys import time import json #Empty list data = [] #Reading PLC variable from ctrlX Data Layer plcdata = datalayer.read("plc/app/Application/sym/PLC_PRG/ScriptOutData.Value") data.append(plcdata) time.sleep(0.3) plcdata = datalayer.read("plc/app/Application/sym/PLC_PRG/ScriptOutData.Value") data.append(plcdata) time.sleep(0.3) plcdata = datalayer.read("plc/app/Application/sym/PLC_PRG/ScriptOutData.Value") data.append(plcdata) time.sleep(0.3) plcdata = datalayer.read("plc/app/Application/sym/PLC_PRG/ScriptOutData.Value") data.append(plcdata) time.sleep(0.3) plcdata = datalayer.read("plc/app/Application/sym/PLC_PRG/ScriptOutData.Value") data.append(plcdata) time.sleep(0.3) #Average function def avg(num): sumOfNumbers = 0 for t in num: sumOfNumbers = sumOfNumbers + t avg = sumOfNumbers / len(num) return avg #Calculate Max max_value = max(data) #Calculate Min min_value = min(data) #Calculate Average avg_value = avg(data) #JSON to String max_value_json = json.dumps({"type": "int16", "value": max_value}) min_value_json = json.dumps({"type": "int16", "value": min_value}) avg_value_json = json.dumps({"type": "float", "value": avg_value}) #Writing to PLC variable in ctrlX Data Layer datalayer.write_json("plc/app/Application/sym/PLC_PRG/ScriptMax.Value",max_value_json ) datalayer.write_json("plc/app/Application/sym/PLC_PRG/ScriptMin.Value",min_value_json ) datalayer.write_json("plc/app/Application/sym/PLC_PRG/ScriptAvg.Value",avg_value_json ) sys.exit(0) ``` {% endcode %} {% code title="Example5" overflow="wrap" lineNumbers="true" %} ```python import sys motion.attach_obj("X") motion.attach_obj("Y") motion.attach_obj("Z") motion.attach_obj("Kinematics") #Position1 motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[-100,-100,100],coord_sys="PCS",vel=2000,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[-100,-100,0],coord_sys="PCS",vel=1500,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) while motion.get_axs_ipo_values("Z").get("pos") != 0: pass motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[-100,-100,100],coord_sys="PCS",vel=1500,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) #Position2 motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[250,250,100],coord_sys="PCS",vel=2000,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[250,250,50],coord_sys="PCS",vel=1500,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) while motion.get_axs_ipo_values("Z").get("pos") != 50: pass motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[250,250,100],coord_sys="PCS",vel=1500,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) #Home position motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[-400,-400,100],coord_sys="PCS",vel=2000,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) while motion.get_axs_ipo_values("X").get("pos") != -400: pass motion.detach_obj("X") motion.detach_obj("Y") motion.detach_obj("Z") motion.detach_obj("Kinematics") sys.exit(0) ``` {% endcode %} {% code title="Example6.py" overflow="wrap" lineNumbers="true" %} ```python import time import paho.mqtt.client as mqtt #import the client1 broker_address="192.168.0.112" #broker_address="iot.eclipse.org" #use external broker client = mqtt.Client("ctrlX CORE") #create new instance #client.username_pw_set("boschrexroth","boschrexroth") client.connect(broker_address,port=1884) #connect to broker #client.subscribe("ctrlxon") client.publish("ctrlxon","Hello ctrlX World")#publish print("closing") sys.exit(0) ``` {% endcode %} {% code title="Example7.py" overflow="wrap" lineNumbers="true" %} ```python import sys import time import paho.mqtt.client as mqtt_client #import the client1 broker = '192.168.0.112' port = 1884 topic = "ctrlxon" client_id = 'ctrlX CORE' #username = 'boschrexroth' #password = 'boschrexroth' motion.attach_obj("X") motion.attach_obj("Y") motion.attach_obj("Z") motion.attach_obj("Kinematics") def connect_mqtt(): def on_connect(client, userdata, flags, rc): if rc == 0: print("Connected to MQTT Broker!") else: print("Failed to connect, return code %d\n", rc) # Set Connecting Client ID client = mqtt_client.Client(client_id) #client.username_pw_set(username, password) client.on_connect = on_connect client.connect(broker, port) return client #Connect to MQTT Broker client = connect_mqtt() client.loop_start() client.publish(topic, "Program Starts") #Position1 client.publish(topic, "Going to Position 1") motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[-100,-100,100],coord_sys="PCS",vel=2000,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[-100,-100,0],coord_sys="PCS",vel=1500,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) while motion.get_axs_ipo_values("Z").get("pos") != 0: time.sleep(1) pass client.publish(topic,"Picked object") client.publish(topic,"Going to Position 2") motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[-100,-100,100],coord_sys="PCS",vel=1500,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) #Position2 motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[250,250,100],coord_sys="PCS",vel=2000,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[250,250,50],coord_sys="PCS",vel=1500,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) while motion.get_axs_ipo_values("Z").get("pos") != 50: time.sleep(1) pass client.publish(topic,"Placed Object") client.publish(topic,"Going to Home position") motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[250,250,100],coord_sys="PCS",vel=1500,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) #Home position motion.kin_cmd_move_lin_abs(kin="Kinematics",pos=[-400,-400,100],coord_sys="PCS",vel=2000,acc=1000,dec=1000,jrk_acc=0,jrk_dec=0) while motion.get_axs_ipo_values("X").get("pos") != -400: time.sleep(1) pass client.publish(topic,"Program finished") # working time.sleep(1) motion.detach_obj("X") motion.detach_obj("Y") motion.detach_obj("Z") motion.detach_obj("Kinematics") sys.exit(0) ``` {% endcode %} ### 📃 PLC Engineering Program {% code title="Variable declaration" lineNumbers="true" %} ```iecst PROGRAM PLC_PRG VAR fbIL_ScriptInstance: IL_ScriptInstance; StateInstance: CXA_PYTHON.INSTANCE_STATE; bEnableInstance: BOOL; bInOperationInstance: BOOL; bErrorInstance: BOOL; ErrorIDInstance: CXA_PYTHON.ERROR_CODE; ErrorIdentInstance: CXA_PYTHON.ERROR_STRUCT; strInstanceName: STRING := 'PLCInstance'; //Name of script instance to be created bResetInstance: BOOL; bAbortScript: BOOL; fbIL_StartScriptFile: IL_StartScriptFile; bExecuteFile: BOOL; bDoneFile: BOOL; bActiveFile: BOOL; bErrorFile: BOOL; ErrorIDFile: CXA_PYTHON.ERROR_CODE; ErrorIdentFile: CXA_PYTHON.ERROR_STRUCT; strFilePath: STRING(255) := 'activeConfiguration/script/Example2.py'; //Path to the file to be executed e.g. root folder of the active configuration //strFilePath: STRING(255) := 'activeConfiguration/script/Example4PLC.py'; //Path to the file to be executed e.g. root folder of the active configuration ParametersFile: ARRAY [0..9] OF STRING; ScriptOutData : INT; ScriptMax : INT; ScriptMin : INT; ScriptAvg : REAL; END_VAR ``` {% endcode %} {% code title="PLC Program" lineNumbers="true" %} ```iecst fbIL_ScriptInstance( Enable:= bEnableInstance, InOperation=> bInOperationInstance, Error=> bErrorInstance, ErrorID=> ErrorIDInstance, ErrorIdent=> ErrorIdentInstance, InstanceName:= strInstanceName, ResetInstance:= bResetInstance, AbortScript:= bAbortScript, State=> StateInstance); fbIL_StartScriptFile( Execute:= bExecuteFile, Done=> bDoneFile, Active=> bActiveFile, Error=> bErrorFile, ErrorID=> ErrorIDFile, ErrorIdent=> ErrorIdentFile, InstanceName:= strInstanceName, FileName:= strFilePath, Parameters:= ParametersFile); PLC_PRG.ScriptOutData := PLC_PRG.ScriptOutData + 1; IF PLC_PRG.ScriptOutData >= 200 THEN PLC_PRG.ScriptOutData := 0; END_IF IF PLC_PRG.ScriptOutData <= 100 THEN PLC_PRG.ScriptOutData := 100; END_IF ``` {% endcode %} ### 📃 Node-RED Program {% embed url="" %} Node-RED flows used in the video {% endembed %} --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. 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