Activate Trajectory

This command is used to make an XBot follow a user-defined trajectory, with all 6 axis specified, along with an optional axis that can be specified to control the Digital Output from the controller.

For writing a trajectory into the system, see Trajectory Configuration.

Fieldbus Interface

PMC_ActivateTrajectory

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.
nXbots	USINT	Number of XBots to run trajectory, from 1 to 12
XbotID	USINT[0..11]	Array of size 12, enter up to 12 XBot IDs of the XBots that should be moved.
TrajID	USINT[0..11]	Array of size 12, enter up to 12 corresponding Trajectory IDs for the XBots that should be moved.
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

PMCRTN TrajectoryActivation(ushort cmdLabel, int xbotCount, int[] xbotIDs, int[] trajectoryIDs)

Parameters

Name	Type	Description
cmdLabel	ushort	Any 2 byte Command Label, user defined.
xbotCount	int	Number of XBots in this command, max 12
xbotIDs	int[]	Array of XBot IDs that will activate trajectories
trajectoryIDs	int[]	The corresponding trajectory ID for the XBots. Eg. xbotIDs[0] will activate trajectoryIDs[0].

Returns

Name	Type	Description
PMCRTN	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.

Conditions

Operating Conditions
Preconditions	XBot(s) State is Idle or Stopped.
Postconditions	The specified XBot(s) will enter the Motion State.

Description

This command is used to make an XBots follow a user-defined trajectory, with all 6 axis specified, along with an optional axis that can be specified to control the Digital Output from the controller.

For writing a trajectory into the system, see Trajectory Configuration.

The XBot will directly follow the trajectory provided by the file, therefore it is important to keep the speed and acceleration within the specified limits when generating the trajectory
The temporal interval of trajectory can be from 1 [ms] to 10000 [ms], it does not need to be an integer
Trajectory points are relative positions to the starting point of the XBot

Behaviour During Obstacles

If an XBot encounters an obstacle (i.e. another XBot is in the way) while following a trajectory, it will stop and go back to the Idle State. Its motion will not be resumed even if the obstacle XBot is moved away.