6 DOF Motion With Velocity

This command can be used to specify all 6 degrees of freedom of an XBot at once. It will travel at the specified velocity.

Fieldbus Interface

PMC_6DMotionVelocity

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]
TargetPos	REAL[0..5]	Absolute Target Coordinates (m), array of size 6, values are ordered as X, Y, Z, Rx, Ry, Rz in SI Units
LongAxisAccVel	REAL[0..1]	LongAxisAccVel[0]: XY Acceleration, LongAxisAccVel[1]: XY Speed;
ShortAxisVel	REAL[0..3]	ShortAxisVel[0]: Z Speed, ShortAxisVel[1]: RX Speed, ShortAxisVel[2]: RY Speed, ShortAxisVel[3]: RZ Speed
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, double xyMaxSpeed, double xyMaxAccel, double zMaxSpeed, double rxMaxSpeed, double ryMaxSpeed, double rzMaxSpeed)

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)
xyMaxSpeed	double	Max speed in X and Y
xyMaxAccel	double	Max acceleration in X and Y
zMaxSpeed	double	Max speed in Z
rxMaxSpeed	double	Max speed in RX
ryMaxSpeed	double	Max speed in RY
rzMaxSpeed	double	Max speed in RZ

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