6 DOF Motion

This command can be used to specify all 6 degrees of freedom of an XBot at once. It will travel at the configured default speeds for all 6 axis.

Fieldbus Interface

PMC_6DMotion

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
cmdLB	UINT	Any 2 byte Command Label, user defined.
XbotID	USINT	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]
PosX	REAL	Absolute Target X Coordinates (m)
PosY	REAL	Absolute Target Y Coordinates (m)
PosZ	REAL	Absolute Target Z Coordinates (m)
PosRx	REAL	Absolute Target RX Coordinates (rad)
PosRy	REAL	Absolute Target RY Coordinates (rad)
PosRz	REAL	Absolute Target RZ Coordinates (rad)
PM_Controller	PMControllerType	Data structure that specifies which PMC to connect to. There should be only 1 instance of this variable for each connected PMC.

Outputs

Name	Data Type	Description
Ack	BOOL	Command has been accepted by the PMC when Ack = TRUE.
Done	BOOL	Execution successful. Function block is finished. (Note: Done will not become TRUE if Execute is already FALSE)
Busy	BOOL	Function block is active and must continue to be called.
Aborted	BOOL	Command aborted by another command.
Error	BOOL	If there is an error in processing the command, then Error = TRUE, otherwise, FALSE.
ErrorID	UINT	0x0: All OK. Otherwise, please see PMC Reply Codes.
TravelTime	REAL	Traveling time (s)

Ethernet Interface

MotionRtn SixDofMotionSI(ushort cmdLabel, int xbotID, double targetXmeters, double targetYmeters, double targetZmeters, double targetRXrads, double targetRYrads, double targetRZrads)

Parameters

Name	Type	Description
cmdLabel	ushort	Any 2 byte Command Label, user defined.
xbotID	int	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]. Macro IDs [128,191]
targetXmeters	double	Target X position (meters)
targetYmeters	double	Target Y position (meters)
targetZmeters	double	Target Z position (meters)
targetRXrads	double	Target RX position (rads)
targetRYrads	double	Target RY position (rads)
targetRZrads	double	Target RZ position (rads)

Returns

Name	Type	Description
MotionRtn.PmcRtn	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.
MotionRtn.TravelTimeSecs	float	Time required to complete this command, in seconds

Conditions

Operating Conditions
Preconditions	XBot is in the Idle state, Obstacle Detected state, Motion state, Stopped state, Hold Position state, or Waiting state.
Postconditions	If the XBot is ready to immediately begin executing the command, then the XBot will enter the Motion state. Otherwise, the XBot state remains unchanged, but the command will be added to the XBot's motion buffer.

Description

Typically, all 6 axis move towards their respective target positions at the same time. In some special situations, however, some axis may move before others. For example:

If the target position requires Z to be a certain height before the target RX or RY tilt can be achieved, the XBot will move in the Z direction first, before moving in RX or RY
If the target X & Y positions are at the boundary of the Flyway, with RZ = 0, and the initial RZ is not 0, the XBot will first move in the RZ direction before proceeding in the X & Y directions. Otherwise, a corner of the XBot will extend beyond the Flyway boundary