
(* Rising edge triggered wrapper of the ReadXbotPox command *)
FUNCTION_BLOCK CheckXbotPos
	IF(Execute = FALSE)THEN
		Done := FALSE;
		ReadXbotPos(Enable := FALSE,PM_Controller := PM_Controller);
	END_IF;

	IF(Execute = TRUE AND Done = FALSE)THEN
		Done := TRUE;
		ReadXbotPos(Enable := TRUE,PM_Controller := PM_Controller,XbotID := XbotID);
		Valid := ReadXbotPos.Valid;
		PosX := ReadXbotPos.PosX;
		PosY := ReadXbotPos.PosY;
		PosZ := ReadXbotPos.PosZ;
		PosRx := PosRx;
		PosRy := PosRy;
		PosRz := PosRz;
	END_IF;
END_FUNCTION_BLOCK
