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EXAMPLES.md

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Examples

This page contains various examples for different use cases. Looking through the examples might help to better understand how to use the nodes for specific tasks. Please note that depending on the example different apps have to be present on the system.

Table of contents

How to import examples

General examples

Diagnosis and Logbook examples

PLC examples

ctrlX CORE - PLC App dashboard examples

ctrlX CORE - MOTION App dashboard examples

Script interpreter and ctrlX CORE - Python Runtime App dashboard examples

ctrlX CORE - EtherCat Master App dashboard examples

How to import examples

The example flows can either be imported via the clipboard or by importing directly in the Node-RED editor via the Import Nodes Dialog.

examples-import-nodes.png

Keep in mind, that you need to insert valid credentials (username and password) for your device and adjust your hostname inside of the communication nodes. When importing several examples after each other a message Some of the nodes you are importing already exist in your workspace. appears. Please choose View nodes... and click on Import selected. Otherwise you could overwrite existing settings nodes.

General examples

Set request properties via msg

examples-set-request-properties-via-msg.png

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Get web token from authentication server

The following example shows how to get a web token from ctrlX COREs authentication server. The username and password has to be adapted in the make header function.

examples-get-token.png

[{"id":"af22af4db424ebc6","type":"function","z":"b7f42922c8391768","name":"make header","func":"var newMsg = {};\nnewMsg.header = {};\nnewMsg.header[\"Content-Type\"] = \"application/json\"\nnewMsg.payload =\n    { name: \"boschrexroth\", password: \"boschrexroth\" }\nnewMsg.url = \"https://localhost/identity-manager/api/v2/auth/token\";\nreturn newMsg;\n","outputs":1,"noerr":0,"initialize":"","finalize":"","libs":[],"x":330,"y":140,"wires":[["0a76057a199ca617"]]},{"id":"0a76057a199ca617","type":"http request","z":"b7f42922c8391768","name":"Get token","method":"POST","ret":"obj","paytoqs":"ignore","url":"","tls":"","persist":false,"proxy":"","insecureHTTPParser":false,"authType":"","senderr":false,"headers":[],"x":500,"y":140,"wires":[["ee4def3e07376b8d"]]},{"id":"ee4def3e07376b8d","type":"debug","z":"b7f42922c8391768","name":"debug 1","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","targetType":"msg","statusVal":"","statusType":"auto","x":660,"y":140,"wires":[]},{"id":"c485adb93723e929","type":"inject","z":"b7f42922c8391768","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"","payloadType":"date","x":160,"y":140,"wires":[["af22af4db424ebc6"]]},{"id":"056e75fc0e45614d","type":"comment","z":"b7f42922c8391768","name":"Get web token from authentication server","info":"","x":240,"y":80,"wires":[]}]

Read the current CPU utilisation on request

examples-read-CPU-utilisation.png

[{"id":"765680d3.1c7788","type":"ctrlx-datalayer-request","z":"b7f42922c8391768","device":"7b877229.678964","method":"READ","path":"framework/metrics/system/cpu-utilisation-percent","payloadFormat":"value","name":"","x":690,"y":280,"wires":[["9195cd7c.d74f3"]]},{"id":"a1661333.e8b348","type":"inject","z":"b7f42922c8391768","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"","payloadType":"date","x":380,"y":280,"wires":[["765680d3.1c7788"]]},{"id":"9195cd7c.d74f3","type":"debug","z":"b7f42922c8391768","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"false","statusVal":"","statusType":"auto","x":1010,"y":280,"wires":[]},{"id":"84d1b245.874028","type":"comment","z":"b7f42922c8391768","name":"Example: Read the current CPU utilisation from the ctrX Data Layer and print to debug log","info":"","x":590,"y":220,"wires":[]},{"id":"7b877229.678964","type":"ctrlx-config","name":"localhost","hostname":"localhost","debug":false}]

Subscribe to the current CPU utilisation

examples-subscribe-CPU-utilisation.png

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Monitor CPU utilisation in line chart

The following example shows how to subscribe to the current CPU utilisation and monitor the last 10 values in a line chart.

example-monitor-cpu-utilisation-linechart.png example-monitor-cpu-utilisation-linechart-dashboard.png

[{"id":"beb3ea051cd65ac2","type":"ctrlx-datalayer-subscribe","z":"b7f42922c8391768","subscription":"632bcc2.eddf134","path":"framework/metrics/system/cpu-utilisation-percent","name":"","x":440,"y":480,"wires":[["be8fc64ed0c8ea73"]]},{"id":"dc3e7b2.6ab9388","type":"comment","z":"b7f42922c8391768","name":"Example: Monitor CPU utilisation in line chart","info":"","x":430,"y":440,"wires":[]},{"id":"be8fc64ed0c8ea73","type":"ui_chart","z":"b7f42922c8391768","name":"","group":"a4ba432c81cdab8a","order":0,"width":"0","height":"0","label":"CPU utilisation","chartType":"line","legend":"false","xformat":"auto","interpolate":"linear","nodata":"","dot":true,"ymin":"0","ymax":"100","removeOlder":1,"removeOlderPoints":"10","removeOlderUnit":"60","cutout":0,"useOneColor":false,"useUTC":false,"colors":["#3eb31e","#aec7e8","#ff7f0e","#2ca02c","#98df8a","#d62728","#ff9896","#9467bd","#c5b0d5"],"outputs":1,"useDifferentColor":false,"className":"","x":760,"y":480,"wires":[[]]},{"id":"632bcc2.eddf134","type":"ctrlx-config-subscription","device":"7b877229.678964","name":"Sub_Default","publishIntervalMs":""},{"id":"a4ba432c81cdab8a","type":"ui_group","name":"General","tab":"9cba2148.8c9148","order":2,"disp":true,"width":"6","collapse":false,"className":""},{"id":"7b877229.678964","type":"ctrlx-config","name":"localhost","hostname":"localhost","debug":false},{"id":"9cba2148.8c9148","type":"ui_tab","name":"Examples","icon":"dashboard","order":7,"disabled":false,"hidden":false}]

Use a catch node to handle errors

Errors in the nodes e.g. node is missing or node path is invalid can be catched with the Node-RED internal catch node.

examples-catch-error.png

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Subscribe and unsubscribe to a node dynamically

The path of a subscribe node can be set dynamically at runtime.

example-basic-dynamic-subscription.png

[{"id":"8c92f714677c9a4a","type":"ctrlx-datalayer-subscribe","z":"e54f652072ad4b5b","subscription":"21664f4efd3d1a9d","path":"","name":"","inputs":1,"x":560,"y":100,"wires":[["ef08e241e0ed21b0"]]},{"id":"792d1c9b693276d8","type":"inject","z":"e54f652072ad4b5b","name":"subscribe","props":[{"p":"action","v":"subscribe","vt":"str"},{"p":"path","v":"framework/metrics/system/cpu-utilisation-percent","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","x":140,"y":80,"wires":[["8c92f714677c9a4a"]]},{"id":"7a9058067ce9881e","type":"inject","z":"e54f652072ad4b5b","name":"unsubscribe","props":[{"p":"action","v":"unsubscribe","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","x":150,"y":120,"wires":[["8c92f714677c9a4a"]]},{"id":"ef08e241e0ed21b0","type":"debug","z":"e54f652072ad4b5b","name":"output","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","targetType":"msg","statusVal":"","statusType":"auto","x":750,"y":100,"wires":[]},{"id":"e53d299d117f8483","type":"comment","z":"e54f652072ad4b5b","name":"Example: Set subscription at runtime","info":"","x":160,"y":40,"wires":[]},{"id":"21664f4efd3d1a9d","type":"ctrlx-config-subscription","device":"bfebf08a.52a46","name":"sub","publishIntervalMs":"100","publishIntervalUnits":"milliseconds","samplingInterval":"","samplingIntervalUnits":"seconds","errorInterval":"","errorIntervalUnits":"seconds","keepaliveInterval":"","keepaliveIntervalUnits":"minutes","queueSize":"","queueBehaviour":"DiscardOldest","deadbandValue":""},{"id":"bfebf08a.52a46","type":"ctrlx-config","name":"localhost","hostname":"192.168.17.190","debug":true}]

Diagnosis and Logbook examples

Read all pending diagnostics

This Example shows how to read all pending diagnostics via a subscription and show them on the dashboard.

examples-diagnosis-read-pending-diagnostics.png examples-diagnosis-read-pending-diagnostics-dashboard.png

[{"id":"af0c0102e0191bc8","type":"ctrlx-datalayer-subscribe","z":"bf7a3579c5656113","subscription":"632bcc2.eddf134","path":"diagnosis/get/actual/list","name":"Read pending diagnostics","x":310,"y":480,"wires":[["367e1ba061c76fec"]]},{"id":"367e1ba061c76fec","type":"function","z":"bf7a3579c5656113","name":"make value","func":"var newMsg = {}\nvar myArray = msg.payload.listDiagnosisIdentificationWithTimestamp\nnewMsg.payload = \"Pending diagnostics:<br>\"\nfor (let index = 0; index < (myArray.length -1); ++index) {\n    newMsg.payload += index + \": \" \n    + myArray[index].diagnosisIdentification.mainDiagnosisNumber \n    + \", \" + myArray[index].diagnosisIdentification.detailedDiagnosisNumber \n    + \", \" + myArray[index].diagnosisIdentification.entity + \";<br>\"\n}\nreturn newMsg;","outputs":1,"noerr":0,"initialize":"","finalize":"","libs":[],"x":510,"y":480,"wires":[["8eac940b52bde5ae"]]},{"id":"8eac940b52bde5ae","type":"ui_template","z":"bf7a3579c5656113","group":"cd7a7d59d153b666","name":"Show pending diagnostics","order":4,"width":"6","height":"2","format":"<div ng-bind-html=\"msg.payload\"></div>","storeOutMessages":true,"fwdInMessages":true,"resendOnRefresh":true,"templateScope":"local","className":"","x":720,"y":480,"wires":[[]]},{"id":"308321925688e5da","type":"comment","z":"bf7a3579c5656113","name":"Example: Get main diagnosis text","info":"","x":330,"y":440,"wires":[]},{"id":"632bcc2.eddf134","type":"ctrlx-config-subscription","device":"7b877229.678964","name":"Sub_Default","publishIntervalMs":""},{"id":"cd7a7d59d153b666","type":"ui_group","name":"Diagnosis","tab":"9cba2148.8c9148","order":9,"disp":true,"width":"6","collapse":false,"className":""},{"id":"7b877229.678964","type":"ctrlx-config","name":"localhost","hostname":"localhost","debug":false},{"id":"9cba2148.8c9148","type":"ui_tab","name":"Examples","icon":"dashboard","order":7,"disabled":false,"hidden":false}]

Confirm all pending errors in the system diagnostic

This Example shows how to confirm all pending errors in the system diagnostic. An empty WRITE request needs to send to diagnosis/confirm/error. This can be done by setting the payload to null.

examples-diagnosis-confirm-errors.png examples-diagnosis-confirm-errors-dashboard.png

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Confirm single pending error in the system diagnostic

This Example shows how to confirm a single pending error in the system diagnostic. Following error is expected to present in the pending diagnostics:

Main diagnosis number : "091F2006"
Main diagnosis text : "Axis limit exceeded"
Detailed diagnosis number : "0C560107"
Detailed diagnosis text : "TargetPos max limit exceeded"
Entity : "motion/axs/AxisX"

examples-diagnosis-confirm-error.png examples-diagnosis-confirm-error-dashboard.png

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Get main diagnostic text

This Example shows how to get the diagnostic text from the main diagnostic number 091F2006.

examples-diagnosis-get-main-diag-text.png examples-diagnosis-get-main-diag-text-dashboard

[{"id":"24e389ee88bbd972","type":"ctrlx-datalayer-request","z":"bf7a3579c5656113","device":"7b877229.678964","method":"READ","path":"","payloadFormat":"value_type","name":"Read main diag text","x":560,"y":640,"wires":[["9cfc3279057259fe"]]},{"id":"96de7236184e1636","type":"function","z":"bf7a3579c5656113","name":"make value","func":"var newMsg = {}\nvar myMainDiagNumber = \"091F2006\"\nnewMsg.path = \"diagnosis/get/text/main?data={ \\\"type\\\": \\\"object\\\", \\\"value\\\": { \\\"mainDiagnosisNumber\\\": \\\"\" + myMainDiagNumber + \"\\\" } }\"\nreturn newMsg;","outputs":1,"noerr":0,"initialize":"","finalize":"","libs":[],"x":370,"y":640,"wires":[["24e389ee88bbd972"]]},{"id":"e45d515b6c331225","type":"comment","z":"bf7a3579c5656113","name":"Example: Get main diagnosis text","info":"","x":170,"y":600,"wires":[]},{"id":"3331e124823b565a","type":"inject","z":"bf7a3579c5656113","name":"Manual Trigger","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"","payloadType":"date","x":160,"y":680,"wires":[["96de7236184e1636"]]},{"id":"efcdc0eecbd37d40","type":"ui_button","z":"bf7a3579c5656113","name":"","group":"cd7a7d59d153b666","order":1,"width":"3","height":"1","passthru":false,"label":"Read main diag text","tooltip":"","color":"","bgcolor":"","className":"","icon":"","payload":"","payloadType":"str","topic":"topic","topicType":"msg","x":160,"y":640,"wires":[["96de7236184e1636"]]},{"id":"9cfc3279057259fe","type":"ui_text","z":"bf7a3579c5656113","group":"cd7a7d59d153b666","order":2,"width":"6","height":"2","name":"","label":"Main diag text","format":"{{msg.payload.value}}","layout":"col-center","className":"","x":760,"y":640,"wires":[]},{"id":"7b877229.678964","type":"ctrlx-config","name":"localhost","hostname":"localhost","debug":false},{"id":"cd7a7d59d153b666","type":"ui_group","name":"Diagnosis","tab":"9cba2148.8c9148","order":9,"disp":true,"width":"6","collapse":false,"className":""},{"id":"9cba2148.8c9148","type":"ui_tab","name":"Examples","icon":"dashboard","order":7,"disabled":false,"hidden":false}]

Get detailed diagnostic text

This Example shows how to get the detailed diagnostic text from the detailed diagnostic number 0C560107 in combination with the related main diagnostic number 091F2006.

examples-diagnosis-get-detail-diag-text.png examples-diagnosis-get-detail-diag-text-dashboard

[{"id":"24e389ee88bbd972","type":"ctrlx-datalayer-request","z":"bf7a3579c5656113","device":"7b877229.678964","method":"READ","path":"","payloadFormat":"value_type","name":"Read detail diag text","x":560,"y":640,"wires":[["9cfc3279057259fe"]]},{"id":"96de7236184e1636","type":"function","z":"bf7a3579c5656113","name":"make value","func":"var newMsg = {}\nvar myMainDiagNumber = \"091F2006\"\nvar myDetailDiagNumber = \"0C560107\"\nnewMsg.path = \"diagnosis/get/text/detailed?data={ \\\"type\\\": \\\"object\\\", \\\"value\\\": { \\\"detailedDiagnosisNumber\\\": \\\"\" + myDetailDiagNumber + \"\\\", \\\"relatedMainDiagnosisNumber\\\": \\\"\" + myMainDiagNumber + \"\\\" } }\"\nreturn newMsg;","outputs":1,"noerr":0,"initialize":"","finalize":"","libs":[],"x":370,"y":640,"wires":[["24e389ee88bbd972"]]},{"id":"e45d515b6c331225","type":"comment","z":"bf7a3579c5656113","name":"Example: Get detail diagnosis text","info":"","x":180,"y":600,"wires":[]},{"id":"3331e124823b565a","type":"inject","z":"bf7a3579c5656113","name":"Manual Trigger","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"","payloadType":"date","x":160,"y":680,"wires":[["96de7236184e1636"]]},{"id":"efcdc0eecbd37d40","type":"ui_button","z":"bf7a3579c5656113","name":"","group":"cd7a7d59d153b666","order":1,"width":"3","height":"1","passthru":false,"label":"Read detail diag text","tooltip":"","color":"","bgcolor":"","className":"","icon":"","payload":"","payloadType":"str","topic":"topic","topicType":"msg","x":160,"y":640,"wires":[["96de7236184e1636"]]},{"id":"9cfc3279057259fe","type":"ui_text","z":"bf7a3579c5656113","group":"cd7a7d59d153b666","order":2,"width":"6","height":"2","name":"","label":"Detail diag text","format":"{{msg.payload.value}}","layout":"col-center","className":"","x":760,"y":640,"wires":[]},{"id":"7b877229.678964","type":"ctrlx-config","name":"localhost","hostname":"localhost","debug":false},{"id":"cd7a7d59d153b666","type":"ui_group","name":"Diagnosis","tab":"9cba2148.8c9148","order":9,"disp":true,"width":"6","collapse":false,"className":""},{"id":"9cba2148.8c9148","type":"ui_tab","name":"Examples","icon":"dashboard","order":7,"disabled":false,"hidden":false}]

PLC examples

For reading and especially writing it might be necessary to better understand how the many types of the IEC61131-3 programming language are mapped to javascript types, which are used in Node-RED. Have a look at the Data Type Overview for this.

Read a PLC variable

The following example shows how to read a PLC variable i of type INT of a program PLC_PRG which has been configured to be part of the symbolic variable configuration.

PROGRAM PLC_PRG
VAR
  i: INT;
END_VAR

examples-plc-read-value.png

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The request returns in msg.payload:

{
  "type": "int16", 
  "value": 0
}

Write a PLC variable (boolean)

The following example shows how to write a boolean PLC variable b of type BOOL which has been configured for write access via the symbolic variable configuration. Please note, that for writing PLC variable you need to specify the exact type of the PLC variable in the msg.payload.

PROGRAM PLC_PRG
VAR
  b: BOOL;
END_VAR

examples-plc-write-value-bool.png

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The request returns in msg.payload the written value:

{
  "type": "bool8", 
  "value": true
}

ctrlX CORE - PLC App dashboard examples

Please note that for these examples the installation of the ctrlX CORE - PLC App is expected. See our store and the corresponding documentation of the ctrlX CORE - PLC App.

Monitor and handle a boolean PLC variable "bBoolean"

The following example shows how to read, write and monitor a PLC variable bBoolean of type BOOL via the dashboard. A symbol configuration has to be present in the PLC project and the variable has to be configured for write access via a pragma or directly in the symbolic variable configuration. Also the variable has to be used in a program or via pragma. Note: A digital IO can be treated the same way.

GVL

{attribute 'linkalways'}
{attribute 'symbol' := 'readwrite'}
VAR_GLOBAL
  bBoolean : BOOL;
END_VAR

PLC_PRG

bBoolean;

example-plc-monitor-handle-boolean.png example-plc-monitor-handle-boolean-dashboard.png

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Monitor and handle an integer PLC variable "iInteger"

The following example shows how to read, write and monitor a PLC variable iInteger of type INT via the dashboard. A symbol configuration has to be present in the PLC project and the variable has to be configured for write access via a pragma or directly in the symbolic variable configuration. Also the variable has to be used in a program or via pragma.

GVL

{attribute 'linkalways'}
{attribute 'symbol' := 'readwrite'}
VAR_GLOBAL
  iInteger : BOOL;
END_VAR

PLC_PRG

iInteger;

example-plc-monitor-handle-integer.png example-plc-monitor-handle-integer-dashboard.png

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Monitor and handle a real PLC variable "rReal"

The following example shows how to read, write and monitor a PLC variable rReal of type REAL via the dashboard. A symbol configuration has to be present in the PLC project and the variable has to be configured for write access via a pragma or directly in the symbolic variable configuration. Also the variable has to be used in a program or via pragma.

GVL

{attribute 'linkalways'}
{attribute 'symbol' := 'readwrite'}
VAR_GLOBAL
  rReal : BOOL;
END_VAR

PLC_PRG

rReal;

example-plc-monitor-handle-real.png example-plc-monitor-handle-real-dashboard.png

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Monitor and handle a string PLC variable "sString"

The following example shows how to read, write and monitor a PLC variable sString of type STRING via the dashboard. A symbol configuration has to be present in the PLC project and the variable has to be configured for write access via a pragma or directly in the symbolic variable configuration. Also the variable has to be used in a program or via pragma.

GVL

{attribute 'linkalways'}
{attribute 'symbol' := 'readwrite'}
VAR_GLOBAL
  sString : BOOL;
END_VAR

PLC_PRG

sString;

example-plc-monitor-handle-string.png example-plc-monitor-handle-string-dashboard.png

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ctrlX CORE - MOTION App dashboard examples

Please note that for these examples the installation of the ctrlX CORE - MOTION App is expected. See our store and the corresponding documentation of the ctrlX CORE - MOTION App.

Monitor and switch motion state

The following example shows how to switch and monitor the state of the ctrlX MOTION.

example-motion-monitor-switch-state.png example-motion-monitor-switch-state-dashboard.png

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Browse and show all available axes

The following example shows how to browse and show all available axes of the ctrlX MOTION.

example-motion-monitor-browse-axes.png example-motion-monitor-browse-axes-dashboard.png

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Create an axis "AxisX"

The following example shows how to create a motion object of the type axis with the name AxisX in the ctrlX MOTION. The state of the ctrlX MOTION has to be Configuration.

example-motion-create-axis.png example-motion-create-axis-dashboard.png

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Switch and monitor power of an axis "AxisX"

The following example shows how to switch and monitor the power state of a motion axis AxisX in the ctrlX MOTION. The corresponding motion object has to be present and the state of the ctrlX MOTION has to be Running.

example-motion-power-axis.png example-motion-power-axis-dashboard.png

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Monitor position of an axis "AxisX"

The following example shows how to monitor the interpolated position of a motion axis AxisX in the ctrlX MOTION. The corresponding motion object has to be present and the state of the ctrlX MOTION has to be Running.

example-motion-monitor-position-axes.png example-motion-monitor-position-axes-dashboard.png

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Move an axis "AxisX"

The following example shows how to move a motion axis AxisX in the ctrlX MOTION to position = 10 with velocity, acceleration, deceleration = 10 and jerk = 0. The state of the ctrlX MOTION has to be Running. The corresponding motion object has to be present and its state has to be STANDSTILL (powered on, see axis state machine documentation).

example-motion-move-axis.png example-motion-move-axis-dashboard.png

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Abort an axis movement of "AxisX"

The following example shows how to abort an movement of a motion axis AxisX in the ctrlX MOTION with deceleration = 10 and jerk = 0. The state of the ctrlX MOTION has to be Running. The corresponding motion object has to be present and its state has to be DISCRETE_MOTION (see axis state machine documentation).

example-motion-abort-axis-movement.png example-motion-abort-axis-movement-dashboard.png

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Reset an error of "AxisX"

The following example shows how to reset an error of a motion axis AxisX in the ctrlX MOTION. The state of the ctrlX MOTION has to be Running. The corresponding motion object has to be present and its state has to be ERRORSTOP (see axis state machine documentation).

example-motion-reset-axis-error.png example-motion-reset-axis-error-dashboard.png

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Group axes of kinematic "Robot"

The following example shows how to add the axes ("X","Y","Z") to a kinematic group "Robot". Each axis grouped must be defined in the kinematic axes. Axis states must be STANDSTILL. This command will transition the grouped axes into state COORDINATED_MOTION. Axes must be grouped and the kinematic must be enabled prior to physical motion.

example-motion-group-kinematic-axes.png example-motion-group-kinematic-axes-dashboard.png

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Monitor and enable or disable kinematic "Robot"

The following example shows how to monitor, enable and disable the kinematic group "Robot". Axis states can be STANDSTILL or COORDINATED_MOTION after grouping. Axes must be grouped and the kinematic must be enabled prior to physical axis motion.

example-motion-monitor-enable-disable-kinematic.png example-motion-monitor-enable-disable-kinematic-dashboard.png

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Move absolute position kinematic "Robot"

The following example shows how to request an absolute position move of a kinematic "Robot". If the command is initiated with axis states STANDSTILL, this will produce a virtual move of the kinematic. To move physical axes, axis states must be COORDINATED_MOTION. An example startup sequence is then: power on, group axes to kinematic, enable kinematic, request move.

example-motion-move-absolute-kinematic.png example-motion-move-absolute-kinematic-dashboard.png

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Abort kinematic "Robot"

The following example shows how to abort the kinematic "Robot". This command can be issued in state MOVING or STANDBY. It will transition the kinematic into state ABORTING. Once the stopping motion is complete, the kinematic transitions to state STANDBY and all buffered commands are removed.

example-motion-abort-kinematic.png example-motion-abort-kinematic-dashboard.png

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Reset kinematic "Robot"

The following example shows how to reset errors for the kinematic "Robot". If the errors are minor, subordinate axes are also reset and the kinematic transitions to state STANDBY. In the case of severe errors, subordinate axes are not reset and the kinematic transitions to state DISABLED.

example-motion-reset-kinematic.png example-motion-reset-kinematic-dashboard.png

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Script interpreter and ctrlX CORE - Python Runtime App dashboard examples

Please note that for these examples the installation of the ctrlX CORE - Python Runtime App is expected. See our store and the corresponding documentation of the "Script parser/interpreter (Python)".

Create an interpreter instance "MyInstance" for python

The following example shows how to create an interpreter instance MyInstance for executing python code/scripts.

example-interpreter-create-instance.png example-interpreter-create-instance-dashboard.png

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Browse and show all available interpreter instances

The following example shows how to browse and show all available instances of the ctrlX script manager.

example-motion-monitor-browse-instances.png example-motion-monitor-browse-instances-dashboard.png

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Monitor state of an interpreter instance "MyInstance"

The following example shows how to monitor the state of an instances MyInstance of the ctrlX script manager (see instance state machine).

example-motion-monitor-state-instance.png example-motion-monitor-state-instance-dashboard.png

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Reset interpreter instance "MyInstance"

The following example shows how to reset a script interpreter instance MyInstance. The corresponding instance has to be present and in state ERROR (see instance state machine).

example-interpreter-python-reset-instance.png example-interpreter-python-reset-instance-dashboard.png

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Execute a python command in an interpreter instance "MyInstance"

The following example shows how to execute a python command script in a script interpreter instance MyInstance. The corresponding instance has to be present and in state INIT or READY (see instance state machine).

example-interpreter-python-execute-command.png example-interpreter-python-execute-command-dashboard.png

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Execute a python file "test.py" in an interpreter instance "MyInstance"

The following example shows how to execute a python script file in a script interpreter instance MyInstance. The corresponding instance has to be present and in state INIT or READY (see instance state machine). The file test.py has to be present in the root folder of the active configuration.

Content of test.py:

import time
while True:
    time.sleep(1)
    pass

example-interpreter-python-execute-file.png example-interpreter-python-execute-file-dashboard.png

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Abort an interpreter instance "MyInstance"

The following example shows how to abort a running script or command in a script interpreter instance MyInstance. The corresponding instance has to be present and in state BUSY (see instance state machine).

example-interpreter-python-abort-instance.png example-interpreter-python-abort-instance-dashboard.png

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ctrlX CORE - EtherCat Master App dashboard examples

Please note that for these examples the installation of the ctrlX CORE - EtherCat Master App is expected. See our store and the corresponding documentation of the EtherCat Master App.

Monitor and switch state of an EtherCat master instance ethercatmaster

The following example shows how to monitor and switch the state of an EtherCat master instance ethercatmaster (see EtherCat state machine). The corresponding instance has to be present .

example-ethercat-monitor-switch-state.png example-ethercat-monitor-switch-state-dashboard.png

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