04- Introducing ctrlX CORE IDE App

Bosch rexroth

🎥 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

📗 Resource files used in the video

📃 Python scripts

Example1.py

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)

Example2.py

#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

Example3.py

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)

Example4PLC

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)

Example5

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)

Example6.py

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)

Example7.py

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)

📃 PLC Engineering Program

Variable declaration

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

PLC Program

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

📃 Node-RED Program

GitHub - thegeterrdone/ctrlX-CORE-IDEGitHub

Node-RED flows used in the video