
(* 1x1 flyways 1 xbots - SingleAxisMotion,RotaryMotion,RotaryMotionSpin *)
FUNCTION_BLOCK Example34_RotaryMotion
	//1x1 flyways 1 xbots - SingleAxisMotion,RotaryMotion,RotaryMotionSpin

	//move xbot 1 to x = 120 mm
	PMC_SingleAxisMotion0(Execute := Execute,cmdLB := 0,XbotID := 1,Mode := 0,Priority := 0,AxisID := 1,Pos := 0.12,EndVel := 0,MaxVel := 1,MaxAcc := 10,PM_Controller := PM_Controller);

	//move xbot 1 to y = 180 mm
	PMC_SingleAxisMotion1(Execute := PMC_SingleAxisMotion0.Done,cmdLB := 0,XbotID := 1,Mode := 0,Priority := 0,AxisID := 2,Pos := 0.18,EndVel := 0,MaxVel := 1,MaxAcc := 10,PM_Controller := PM_Controller);

	//move xbot 1 to down 60 mm in the y axis
	PMC_SingleAxisMotion2(Execute := PMC_SingleAxisMotion1.Done,cmdLB := 0,XbotID := 1,Mode := 1,Priority := 0,AxisID := 2,Pos := -0.06,EndVel := 0,MaxVel := 1,MaxAcc := 10,PM_Controller := PM_Controller);

	//rotate xbot 1 five times in the positive (counter clockwise) direction
	PMC_RotaryMotion0(Execute := PMC_SingleAxisMotion2.Done,cmdLB := 0,XbotID := 1,BoundaryMode := 0,MotionMode := 1,WrapMode := 0,Angle := 10*PI,MaxVel := PI,MaxAcc := 10,PM_Controller := PM_Controller);

	//rotate xbot 1 for 10 seconds in the negative (clockwise) direction
	PMC_RotaryMotionSpin0(Execute := PMC_RotaryMotion0.Done,cmdLB := 0,XbotID := 1,BoundaryMode := 0,Angle := 0,MaxVel := -PI,MaxAcc := 10,Duration := 10,PM_Controller := PM_Controller);
	Done := PMC_RotaryMotionSpin0.Done;
END_FUNCTION_BLOCK
